Inverse Kinematics for Shape Grammars

Information

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.

Additional Files and Images

Additional images and videos


Additional files

Weblinks

No further information available.

BibTeX

@studentproject{kuehtreiber-2010-ikph,
  title =      "Inverse Kinematics for Shape Grammars",
  author =     "Patrick K\"{u}htreiber",
  year =       "2010",
  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.",
  keywords =   "procedural modeling, inverse kinematics",
  URL =        "/research/publications/2010/kuehtreiber-2010-ikph/",
}