title: Real-time inverse kinematics techniques for anthropomorphic limbs.
abstract: In this paper we develop a set of inverse kinematics algorithms suitable for an anthropomorphic arm or leg. We use a combination of analytical and numerical methods to solve generalized inverse kinematics problems including position, orientation, and aiming constraints. Our combination of analytical and numerical methods results in faster and more reliable algorithms than conventional inverse Jacobian and optimization-based techniques. Additionally, unlike conventional numerical algorithms, our methods allow the user to interactively explore all possible solutions using an intuitive set of parameters that define the redundancy of the system.
authors.affiliation: Computer and Information Science Department, University of Pennyslvania, Philadelphia 19104-6389, USA.
authors.forename: D
authors.initials: D
authors.lastname: Tolani
authors.forename: A
authors.initials: A
authors.lastname: Goswami
authors.forename: N I
authors.initials: NI
authors.lastname: Badler
mesh_terms: D000465:Algorithms; D001132:Arm; D001696:Biomechanical Phenomena; D003198:Computer Simulation; D006615:Hip; D006801:Humans; D007596:Joints; D007717:Knee; D007866:Leg; D008954:Models, Biological; D009068:Movement; D019047:Phantoms, Imaging; D012371:Robotics
keywords: NASA Discipline Space Human Factors; Non-NASA Center