Chinese Journal of Computers   Full Text
Title	Inverse Kinematics Using Local Support Poses
Authors	LI Chun-Peng1),2) WANG Zhao-Qi1) XIA Shi-Hong1) ZHU Deng-Ming1),2)
Address	1)(Key Laboratory of Intelligent Information Processing,Institute of Computing Technology, Chinese Academy of Sciences, Beijing 100080) 2)(Graduate University of Chinese Academy of Sciences, Beijing 100080)
Year	2007
Issue	No.11(1982—1988)
Abstract &   Background	Abstract Inverse kinematics(IK) is one of the most frequently used methods in motion control. It is used to calculate the joint rotations of articulated figure given the end effectors’ positions. Traditional methods can’t produce the natural results because of the lack of consideration in the law of the human motion. This paper presents a novel method to solve IK problem with the assistance of motion capture data. The SOM(Self-Organizing Map) is adopted to obtain a set of reference poses from motion capture data and search for the solution in the local space which is spanned by weighting the local reference poses. The experiments show the robustness and effectiveness of the proposed method. keywords character animation； inverse kinematics； unit quaternion； self-organizing map； optimizations background In the past decade virtual reality applications have emerged in many areas, such as entertainment, training, communication and so on. In these applications, virtual human, as the digital representation of human, is one of the most important elements to improve the interactive capability and immersive experience. However, it remains to be a challenging issue faced by modeling virtual human to synthesize natural motions including interactive motions with virtual environment and with the human user. This work is supported in part by National 863 Project "Networked 3D Games Engine Development and Its Application" and Beijing Natural Science Foundation "Digital Entertainment Oriented Key Technology Research on Skeleton Animation". Research results of these projects are expected to promote the core competitiveness of digital content enterprises. This paper mainly focuses on how to synthesizing and controlling virtual character poses from a set of constraints, which is also called inverse kinematics (IK) problem. The solver of IK problem is one of the most important tools for interactive control of characters in virtual reality applications, such as interactive games, workspace computing, and virtual space teleconferences. Although many methods have been proposed to solve IK problems in the field of character animation, little research have been down to try to extract characteristics out of real motion data for inverse kinematics control. The authors started their study on it and new approaches based on motion capture data were proposed.