Achieving Consistency in a Combined IK/FK Interface for a Seven Degree-of-Freedom Kinematic Chain
Date issued
2005
Journal Title
Journal ISSN
Volume Title
Publisher
UNION Agency
Abstract
Many applications in computer animation portray the motion of a human arm and torso. Often such applications
can benefit from a combination of Inverse (IK) and Forward (FK) Kinematics controls to manipulate the arms of
the model. The human arm is a kinematic chain with seven degrees of freedom. The previous analytic solution
to this kinematic chain gives highly detailed IK controls, but problems arise when integrating it with FK controls.
These problems impede the artistic process when creating expressive animations.
This work improves on the previous analytic solution to create a hybrid FK/IK control interface for manipulating
the chain, and enables the recalculation of all the parameters necessary for the IK solution. Thus IK and FK controls
can interact seamlessly to manipulate the arm. The torso is modeled as a separate kinematic chain, and is
integrated with the arm linkages. User tests demonstrate the effectiveness and efficiency of the combined FK/IK
control interface.
Description
Subject(s)
animace postav, expresivní animace, inverzní kinematika, dopředná kinematika
Citation
WSCG '2005: Full Papers: The 13-th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision 2005 in co-operation with EUROGRAPHICS: University of West Bohemia, Plzen, Czech Republic, p. 171-178.