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inria-00194947, version 3

Sequential Monte Carlo Inverse Kinematics

Nicolas Courty () a, 1, Elise Arnaud () b, 2

N° RR-6426 (2007)

Abstract: In this paper we propose a new and original approach to solve the Inverse Kinematics problem. Our approach has the advantages to avoid the classical pitfalls of numerical inversion methods such as singularities, accept arbitrary types of constraints and exhibit a linear complexity with respect to degrees of freedom which makes it far more efficient for articulated figures with a high number of degrees of freedom. Our framework is based on Sequential Monte Carlo Methods that were initially designed to filter highly non-linear, non-Gaussian dynamic systems. They are used here in an online motion control algorithm that allows to integrate motion priors. Along with practical results that show the effectiveness and convenience of our method, we also describe potential follow-ups for our work.

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  • a –  Université de Bretagne Sud
  • b –  Université Joseph Fourier - Grenoble I
  • 1:  Laboratoire de Recherche en Informatique et ses Applications de Vannes et Lorient (VALORIA)
  • Université de Bretagne Sud
  • 2:  PERCEPTION (INRIA Grenoble Rhône-Alpes / LJK Laboratoire Jean Kuntzmann)
  • INRIA – Laboratoire Jean Kuntzmann – CNRS : UMR5224 – Université Joseph Fourier - Grenoble I – Institut National Polytechnique de Grenoble (INPG) – Université Pierre-Mendès-France - Grenoble II
  • Domain : Computer Science/Modeling and Simulation
  • Keywords : inverse kinematics – sequential Monte Carlo method – aticulated motion – motion control
  • Internal note : RR-6426
  • Available versions :  v1 (2007-12-07) v2 (2008-01-24) v3 (2008-02-08)
 
  • inria-00194947, version 3
  • http://hal.inria.fr/inria-00194947
  • oai:hal.inria.fr:inria-00194947
  • From: Elise Arnaud <>
  • Submitted on: Friday, 8 February 2008 11:32:40
  • Updated on: Friday, 16 March 2012 10:34:42