Dr Andreas Aristidou
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Office Location: BN3-03 (Signal Processing South Lab) Position: Researcher |
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Forward And Backward Reaching Inverse Kinematics
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, and as accurately as possible. However, many of the currently available methods suffer from high computational cost and production of unrealistic poses. In this work, a novel heuristic method, called Forward And Backward Reaching Inverse Kinematics (FABRIK), is described and compared with some of the most popular existing methods regarding reliability, computational cost and conversion criteria. FABRIK avoids the use of rotational angles or matrices, and instead finds each joint position via locating a point on a line. Thus, it converges in fewer iterations, has low computational cost and produces visually realistic poses. Constraints can easily be incorporated within FABRIK and multiple chains with multiple end effectors are also easily supported.
Making Kine more flexible:
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[1] Jeff Lander, Making Kine more flexible, Game Developer, Volume 5, Issue 3, pages 15-22, 1998 Kine has been adapted from the work of Jeff Lander. More information about Kine can be founded at Jeff Lander's website. We would like to express our enormous thanks to Jeff for giving us permission to use his code and application.
You can download and interact with the Kine IK solver here (.rar file). Use the "OPTION" tab to switch from FABRIK to CCD IK solver. |
FABRIK algorithm has been implemented within the Kine application Related Publications:
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Andreas Aristidou, Joan Lasenby, "Real-Time Marker Prediction and CoR Estimation in Optical Motion Capture" Submitted to the Visual Computer, June 2011. |
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Andreas Aristidou, Joan Lasenby, "FABRIK: A fast, iterative solver for the Inverse Kinematics problem", Graphical Models, 73(5):243-260, Elsevier, 2011. |
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Andreas Aristidou, Joan Lasenby, "Inverse Kinematics solutions using Conformal Geometric Algebra", In L. Dorst and J. Lasenby (Eds), Guide to Geometric Algebra in Practice, Springer Verlag, 2011. |
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Andreas Aristidou, Joan Lasenby, "Motion Capture with Constrained Inverse Kinematics for Real-Time Hand Tracking", In IEEE Proceedings of the 4th International Symposium on Communications, Control and Signal Processing (ISCCSP'10), Cyprus, May 3-5, 2010. |
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Andreas Aristidou, Joan Lasenby, "Inverse Kinematics: a review of existing techniques and introduction of a new fast iterative solver", A technical report (CUEDF-INFENG, TR-632) submitted to the Department of Information Engineering at University of Cambridge, Cambridge, September 2009. |
