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 …

Inverse Kinematics is defined as the problem of determining a set of appropriate joint
configurations for which the end effectors move to desired positions as smoothly, rapidly …

We present a realistic, robust, and computationally fast method of solving highly non-linear
inverse kinematic problems with angular limits using the Gauss-Seidel iterative method. Our …

The rapid introduction of sophisticated computers, services, telecommunications systems,
and manufacturing systems has caused a major shift in the way people use and work with …

In the early eighties, the author and co-workers created and further developed the natural
coordinates to describe the motion of 2-D and 3-D multibody systems. Natural coordinates …

We present a novel approach for solving articulated inverse kinematic problems (eg,
character structures) by means of an iterative dual-quaternion and exponentialmapping …

An autonomous humanoid robot (HR) with learning and control algorithms is able to balance
itself during sitting down, standing up, walking and running operations, as humans do. In this …

In this paper, we present an analytic-iterative Inverse Kinematics (IK) method, called
Sequential IK (SIK), that reconstructs 3D human full-body movements in real time. The input …

Real-time full-body motion capture (MoCap) is becoming necessary for enabling natural
interactions and creating deeper immersion in virtual reality (VR). To reduce the cost and …

In this paper, we present an optimization method for solving the nonlinear constrained
optimization problem arising from a motion reconstruction problem formulated with natural …