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Conference Paper

Nailing and Pinning: Adding Constraints to Inverse Kinematics

MPS-Authors
http://pubman.mpdl.mpg.de/cone/persons/resource/persons44522

Greeff,  Mardé
Computer Graphics, MPI for Informatics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons44557

Haber,  Jörg
Computer Graphics, MPI for Informatics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons45449

Seidel,  Hans-Peter
Computer Graphics, MPI for Informatics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons45501

Skala,  Vaclav
Algorithms and Complexity, MPI for Informatics, Max Planck Society;

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Citation

Greeff, M., Haber, J., & Seidel, H.-P. (2005). Nailing and Pinning: Adding Constraints to Inverse Kinematics. In The 13-th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision 2005 in co-operation with EUROGRAPHICS W S C G ' 2005; Short Papers (pp. 125-128). Plzen, Czech Republic: UNION Agency.


Cite as: http://hdl.handle.net/11858/00-001M-0000-000F-2723-6
Abstract
Inverse kinematics is commonly applied to compute the resulting movement of an avatar for a prescribed target pose. The motion path computed by inverse kinematics, however, often differs from the expected or desired result due to an underconstrained parameter space of the degrees-of-freedom of all joints. In such cases, it is necessary to introduce additional constraints, for instance by locking a joint's position and/or rotation. We present a method to fix a joint in terms of position and/or rotation and explain how to incorporate these constraints into the inverse kinematics solution.