Inverse KinematicsSpeaker: Benjamin Kenwright – Leicester, United Kingdom
Topic(s): Software Engineering and Programming
Inverse kinematics is the mathematical process for calculating the movement of objects. This is useful in a whole range of fields, from engineering and robotics to medical analysis and video games. However, the implementation of a robust inverse kinematic solution is a challenging problem. While various techniques exist, like the cyclic coordinate descent (CCD) algorithm and the Jacobian pseudo-inverse matrix method each has advantages and disadvantages (e.g., computational cost and ambiguity). This lecture explains basic principles all the way through to testing and coding, while illustrating and explaining working examples to give the listener a solid grasp of the topic. The lecture follows a step-by-step approach, introducing basic principles and problems related to the different inverse kinematic techniques, including analytical, heuristic, and global approaches. The lecture presents a practical point of view with implementation considerations, limitations, engineering workarounds, and common pitfalls. For example, maths and principles needed to incorporate inverse kinematics into 2D or 3D simulation for use in articulated character solutions or push-pull pulley systems. This lecture reviews:
• What challenges are involved in solving inverse kinematic problems?
• What are the types of IK solutions
• Limitations and advantages of the different techniques
• Real-world applications (e.g., robotics to character animation in video games)
• Implementation/practical aspects
About this LectureNumber of Slides: 31
Duration: 60 minutes
Languages Available: English
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