Article

Computing inverse kinematics with linear programming

Authors:

Edmond S. L. Ho,

Taku Komura,

Rynson W. H. LauAuthors Info & Claims

VRST '05: Proceedings of the ACM symposium on Virtual reality software and technology

Pages 163 - 166

https://doi.org/10.1145/1101616.1101651

Published: 07 November 2005 Publication History

Get Access

Abstract

Inverse Kinematics (IK) is a popular technique for synthesizing motions of virtual characters. In this paper, we propose a Linear Programming based IK solver (LPIK) for interactive control of arbitrary multibody structures. There are several advantages of using LPIK. First, inequality constraints can be handled, and therefore the ranges of the DOFs and collisions of the body with other obstacles can be handled easily. Second, the performance of LPIK is comparable or sometimes better than the IK method based on Lagrange multipliers, which is known as the best IK solver today. The computation time by LPIK increases only linearly proportional to the number of constraints or DOFs. Hence, LPIK is a suitable approach for controlling articulated systems with large DOFs and constraints for real-time applications.

References

[1]

CPLEX, ILOG Inc., http://www.ilog.com.

Google Scholar

[2]

SuperLU, http://crd.lbl.gov/ xiaoye/SuperLU/.

Google Scholar

[3]

D. Baraff. Linear-time Dynamics Using Lagrange Multipliers. Proc. of ACM SIGGRAPH'96, pages 137--146, 1996.

Digital Library

Google Scholar

[4]

K. Grochow, S. Martin, A. Hertzmann, and Z. Popovic. Style-based Inverse Kinematics. ACM Trans. on Graphics, 23(3):522--531, Aug. 2004.

Digital Library

Google Scholar

[5]

L. Kovar and M. Gleicher. Automated Extraction and Parameterization of Motions in Large Data Sets. ACM Trans. on Graphics, 23(3):559--568, 2004.

Digital Library

Google Scholar

[6]

J. Lee and S. Shin. A Hierarhical Approach to Interactive Motion Editing for Human-like Figures. Proc. of ACM SIGGRAPH'99, pages 39--48, 1999.

Digital Library

Google Scholar

[7]

A. Liegeois. Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms. IEEE Trans. on Systems, Man, and Cybernetics, 7(12):868--871, 1977.

Crossref

Google Scholar

[8]

Y. Nakamura and H. Hanafusa. Inverse Kinematics Solutions with Singularity Robustness for Robot Manipulator Control. Journal of Dynamic Systems, Measurement, and Control, 108:163--171, 1986.

Google Scholar

[9]

Y. Nakamura, K. Yamane, Y. Fujita, and I. Suzuki. Somatosensory Computation for Man-Machine Interface from Motion Capture Data and Musculoskeletal Human Model. IEEE Trans. on Robotics, 21(1), Feb. 2005.

Digital Library

Google Scholar

[10]

C. Rose, P. Sloan, and M. Cohen. Artist-Directed Inverse-Kinematics Using Radial Basis Function Interpolation. Computer Graphics Forum, 20(3):239--250, 2001.

Crossref

Google Scholar

[11]

D. Whitney. Resolved Motion Rate Control of Manipulators and Human Prostheses. IEEE Trans. on Man-Machine Systems, 10:47--53, 1969.

Crossref

Google Scholar

Cited By

View all

Goncalves VAdorno BCrosnier AFraisse P(2020)Stable-by-Design Kinematic Control Based on OptimizationIEEE Transactions on Robotics10.1109/TRO.2019.296366536:3(644-656)Online publication date: Jun-2020
https://doi.org/10.1109/TRO.2019.2963665
Hoffman EPolverini MLaurenzi ATsagarakis N(2020)A Study on Sparse Hierarchical Inverse Kinematics Algorithms for Humanoid RobotsIEEE Robotics and Automation Letters10.1109/LRA.2019.29548205:1(235-242)Online publication date: Jan-2020
https://doi.org/10.1109/LRA.2019.2954820
Polverini MHoffman ELaurenzi ATsagarakis N(2019)Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged HumanoidsIEEE Robotics and Automation Letters10.1109/LRA.2019.28943794:2(1117-1124)Online publication date: Apr-2019
https://doi.org/10.1109/LRA.2019.2894379
Show More Cited By

Index Terms

Computing inverse kinematics with linear programming
1. Computing methodologies
  1. Computer graphics
    1. Animation

Recommendations

Inverse kinematics positioning using nonlinear programming for highly articulated figures

An articulated figure is often modeled as a set of rigid segments connected with joints. Its configuration can be altered by varying the joint angles. Although it is straight forward to compute figure configurations given joint angles (forward kinematics)...
The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm

This paper is aimed at presenting a study on the kinematics of the Tricept robot, which comprises a three-degree-of-freedom (dof) parallel structure having a radial link of variable length. The robot workspace is characterized and the inverse kinematics ...
Inverse Kinematics of a 5-DOF Hybrid Manipulator
Abstract
Control of any robotic system cannot be executed without a preliminary solution of the inverse kinematic problem. This problem implies determining the control actions of the actuators required to perform a given motion trajectory and embedded into ...

Comments

Information & Contributors

Information

Published In

VRST '05: Proceedings of the ACM symposium on Virtual reality software and technology

November 2005

270 pages

ISBN:1595930981

DOI:10.1145/1101616

General Chairs:
Gurminder Singh
Naval Postgraduate School
,
Rynson Lau
City University of Hong Kong, Hong Kong
,
Program Chairs:
Yiorgos Chrysanthou
University of Cyprus, Cyprus
,
Rudolph Darken
Naval Postgraduate School

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 07 November 2005

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Article

Conference

VRST05

Sponsor:

VRST05: The ACM Symposium on Virtual Reality Software and Technology 2005

November 7 - 9, 2005

CA, Monterey, USA

Acceptance Rates

Overall Acceptance Rate 66 of 254 submissions, 26%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

11
Total Citations
View Citations
626
Total Downloads

Downloads (Last 12 months)19
Downloads (Last 6 weeks)1

Reflects downloads up to 25 Dec 2024

Other Metrics

View Author Metrics

Citations

Cited By

View all

Goncalves VAdorno BCrosnier AFraisse P(2020)Stable-by-Design Kinematic Control Based on OptimizationIEEE Transactions on Robotics10.1109/TRO.2019.296366536:3(644-656)Online publication date: Jun-2020
https://doi.org/10.1109/TRO.2019.2963665
Hoffman EPolverini MLaurenzi ATsagarakis N(2020)A Study on Sparse Hierarchical Inverse Kinematics Algorithms for Humanoid RobotsIEEE Robotics and Automation Letters10.1109/LRA.2019.29548205:1(235-242)Online publication date: Jan-2020
https://doi.org/10.1109/LRA.2019.2954820
Polverini MHoffman ELaurenzi ATsagarakis N(2019)Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged HumanoidsIEEE Robotics and Automation Letters10.1109/LRA.2019.28943794:2(1117-1124)Online publication date: Apr-2019
https://doi.org/10.1109/LRA.2019.2894379
Zhang ZZhou QFan W(2018)Neural-Dynamic Based Synchronous-Optimization Scheme of Dual Redundant Robot ManipulatorsFrontiers in Neurorobotics10.3389/fnbot.2018.0007312Online publication date: 8-Nov-2018
https://doi.org/10.3389/fnbot.2018.00073
Quiroz-Omaña JAdorno B(2018)Whole-Body Kinematic Control of Nonholonomic Mobile Manipulators Using Linear ProgrammingJournal of Intelligent and Robotic Systems10.1007/s10846-017-0713-491:2(263-278)Online publication date: 1-Aug-2018
https://dl.acm.org/doi/10.1007/s10846-017-0713-4
Erleben KAndrews SPelechano NO'Sullivan CPettré J(2017)Inverse kinematics problems with exact Hessian matricesProceedings of the 10th International Conference on Motion in Games10.1145/3136457.3136464(1-6)Online publication date: 8-Nov-2017
https://dl.acm.org/doi/10.1145/3136457.3136464
Goncalves VFraisse PCrosnier AAdorno B(2016)Parsimonious Kinematic Control of Highly Redundant RobotsIEEE Robotics and Automation Letters10.1109/LRA.2015.25062591:1(65-72)Online publication date: Jan-2016
https://doi.org/10.1109/LRA.2015.2506259
Kanoun OLamiraux FWieber PKanehiro FYoshida ELaumond J(2009)Prioritizing linear equality and inequality systemsProceedings of the 2009 IEEE international conference on Robotics and Automation10.5555/1703435.1703553(724-729)Online publication date: 12-May-2009
https://dl.acm.org/doi/10.5555/1703435.1703553
Kanoun OLamiraux FWieber PKanehiro FYoshida ELaumond J(2009)Prioritizing linear equality and inequality systems: Application to local motion planning for redundant robots2009 IEEE International Conference on Robotics and Automation10.1109/ROBOT.2009.5152293(2939-2944)Online publication date: May-2009
https://doi.org/10.1109/ROBOT.2009.5152293
Qiu CCao QSun Y(2008)Resolve redundancy with constraints for obstacle and singularity avoidance subgoalsInternational Journal of Robotics and Automation10.5555/1750486.175049023:1(22-30)Online publication date: 1-Jan-2008
https://dl.acm.org/doi/10.5555/1750486.1750490
Show More Cited By

View Options

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Cited By

Index Terms

Recommendations

Inverse kinematics positioning using nonlinear programming for highly articulated figures

The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm

Inverse Kinematics of a 5-DOF Hybrid Manipulator

Comments

Published In

Sponsors

Publisher

Publication History

Permissions

Check for updates

Author Tags

Qualifiers

Conference

Acceptance Rates

Other Metrics

Article Metrics

Other Metrics

Cited By

Login options

Full Access

PDF

eReader

Abstract

References

Cited By

Index Terms

Recommendations

Inverse kinematics positioning using nonlinear programming for highly articulated figures

The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm

Inverse Kinematics of a 5-DOF Hybrid Manipulator

Comments

Information

Published In

Sponsors

Publisher

Publication History

Permissions

Check for updates

Author Tags

Qualifiers

Conference

Acceptance Rates

Contributors

Other Metrics

Bibliometrics

Article Metrics

Other Metrics

Citations

Cited By

Login options

Full Access

View options

PDF

eReader

Figures

Other

Share

Share this Publication link

Share on social media

Affiliations