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dc.contributor.authorAristidou, A.en_US
dc.contributor.authorLasenby, J.en_US
dc.contributor.authorChrysanthou, Y.en_US
dc.contributor.authorShamir, A.en_US
dc.contributor.editorChen, Min and Benes, Bedrichen_US
dc.date.accessioned2018-08-29T06:55:57Z
dc.date.available2018-08-29T06:55:57Z
dc.date.issued2018
dc.identifier.issn1467-8659
dc.identifier.urihttps://doi.org/10.1111/cgf.13310
dc.identifier.urihttps://diglib.eg.org:443/handle/10.1111/cgf13310
dc.description.abstractInverse kinematics (IK) is the use of kinematic equations to determine the joint parameters of a manipulator so that the end effector moves to a desired position; IK can be applied in many areas, including robotics, engineering, computer graphics and video games. In this survey, we present a comprehensive review of the IK problem and the solutions developed over the years from the computer graphics point of view. The paper starts with the definition of forward and IK, their mathematical formulations and explains how to distinguish the unsolvable cases, indicating when a solution is available. The IK literature in this report is divided into four main categories: the , the , the and the methods. A timeline illustrating key methods is presented, explaining how the IK approaches have progressed over the years. The most popular IK methods are discussed with regard to their performance, computational cost and the smoothness of their resulting postures, while we suggest which IK family of solvers is best suited for particular problems. Finally, we indicate the limitations of the current IK methodologies and propose future research directions.Inverse kinematics (IK) is the use of kinematic equations to determine the joint parameters of a manipulator so that the end effector moves to a desired position; IK can be applied in many areas, including robotics, engineering, computer graphics and video games. In this survey, we present a comprehensive review of the IK problem and the solutions developed over the years from the computer graphics point of view. The paper starts with the definition of forward and IK, their mathematical formulations and explains how to distinguish the unsolvable cases, indicating when a solution is available.en_US
dc.publisher© 2018 The Eurographics Association and John Wiley & Sons Ltd.en_US
dc.subjectinverse kinematics
dc.subjectmotion capture
dc.subjectbiomechanical constraints
dc.subjectGeneral and reference—Surveys and overviews; Computing methodologies—Animation
dc.titleInverse Kinematics Techniques in Computer Graphics: A Surveyen_US
dc.description.seriesinformationComputer Graphics Forum
dc.description.sectionheadersArticles
dc.description.volume37
dc.description.number6
dc.identifier.doi10.1111/cgf.13310
dc.identifier.pages35-58
dc.description.documenttypestar


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