Integrated Analytic and Linearized Inverse Kinematics for Precise Full Body Interactions

Abstract. Despite the large success of games grounded on movement-based interactions the current state of full body motion capture technologies still prevents the exploitation of precise interactions with complex environments. This paper focuses on ensuring a precise spatial correspondence between the user and the avatar. We build upon our past effort in human postural control with a Prioritized Inverse Kinematics framework. One of its key advantage is to ease the dynamic combination of postural and collision avoidance constraints. However its reliance on a linearized approximation of the problem makes it vulnerable to the well-known full extension singularity of the limbs. In such context the tracking performance is reduced and/or less believable intermediate postural solutions are produced. We address this issue by introducing a new type of analytic constraint that smoothly integrates within the prioritized Inverse Kinematics framework. The paper first recalls the background of full ...

• Type: Conference
• Year: 2009
• Where: MIG
• Authors: Ronan Boulic, Daniel Raunhardt
• Keywords: Computer Graphics, Inverse Kinematics Framework, Linearized Ik, MIG 2009, Prioritized Inverse Kinematics