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Abstract
Inverse Kinematics - Basic Methods
Lukáš Barinka, l.barinka@sh.cvut.cz
Ing. Roman Berka, berka@sgi.felk.cvut.cz
Dept. of Computer Science & Engineering
Czech Technical University
Prague / Czech Republic
Abstract
Introduction
Background
Solutions
Algebraic methods
Iterative methods
Jacobian inversion method
Jacobian construction
Iterative model
Optimization based method
Cyclic coordinate descent (CCD)
Genetic programming
Jacobian transpose method
Summary of problems and benefits
Algebraic method
Jacobian inversion
Optimization
Cyclic coordinate descent
Genetic programming
Jacobian transposition
Implementation
Conclusions
Bibliography
About this document ...
Lukas Barinka 2002-03-21
