Inverse Kinematics Techniques in Computer Graphics: A Survey

Published in Computer Graphics Forum, 37(6): 35–58, 2018.
Presented at Eurographics 2018 (STAR paper).
Andreas Aristidou1,2, Joan Lasenby3, Yiorgos Chrysanthou1, Ariel Shamir2
1 University of Cyprus
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2 The Interdisciplinary Center Herzliya
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3 University of Cambridge
DOI Paper
Inverse kinematics techniques in computer graphics

Overview

In this survey, we present a comprehensive review of the IK problem and the solutions developed over the years from the computer graphics point of view. The most popular IK methods are discussed with regard to their performance, computational cost and the smoothness of their resulting postures, while we suggest which IK family of solvers is best suited for particular problems. Finally, we indicate the limitations of the current IK methodologies and propose future research directions.

Timeline of inverse kinematics techniques in computer graphics

Other Related Publications

Inverse Kinematics: a review of existing techniques and introduction of a new fast iterative solver
Andreas Aristidou, Joan Lasenby
Technical Report (CUEDF-INFENG, TR-632), University of Cambridge, September 2009
Paper · BibTeX

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BibTeX

@article{Aristidou:2018:IK,
 author    	= {Aristidou, Andreas and Lasenby, Joan and Chrysanthou, Yiorgos and Shamir, Ariel},
 title     	= {Inverse Kinematics Techniques in Computer Graphics: A Survey},
 doi 	  	= {10.1111/cgf.13310},
 journal   	= {Comput. Graph. Forum},
 volume    	= {37},
 number    	= {6},
 pages     	= {35-58},
 publisher 	= {The Eurographs Association \&\#38; John Wiley \&\#38; Sons, Ltd.},
 month     	= {September},
 year      	= {2018}
}

Acknowledgments

This work is co-financed by the European Regional Development Fund and the Republic of Cyprus through the Research Promotion Foundation under contract ΔΙΔΑΚΤΩΡ/0311/73. Andreas Aristidou and Ariel Shamir are funded from ISF - NSFC grant number 2216/15.