Inverse Kinematics for Shape Grammars

Patrick Kühtreiber
Inverse Kinematics for Shape Grammars

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Information

Publication Type: Student Project
Date (from): 07.12.2009
Matrikelnummer: 0625431
First Supervisor: Martin Ilcik
Keywords: procedural modeling, inverse kinematics

Abstract

In this project I describe the implementation of a solver of the Inverse Kinematic (IK) problem in an environment using shape grammar based on CGA Shape. There exists a number of different algorithms for this problem, however, this report describes only the cyclic coordinate descent (CCD) in more detail as this is the method we implemented. The implementation enabels the positioning of a certain shape so that it touches a user-specified target point. The implemented algorithm rotates the shapes until the end effector is at the desired position.

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