Full Body Adjustment Using Iterative Inverse Kinematic and Body Parts Correlation

Abstract

In this paper, we present an iterative inverse kinematic method that adjust 3D human full body pose in real time to new constraints. The input data for the adjustments are the starting posture and the desired end effectors positions -constraints-. The principal idea of our method is to divide the full-body into groups and apply inverse kinematic based on conformal algebra to each group in specific order, our method involve correlation of body parts. The paper describes first the used inverse kinematic with one and multiple task simultaneously and how we handle with collision induced by the joints with the objects of the environment. The second part focuses on the adjustment algorithm of the full body using the inverse kinematic described above. Comparison is made between the used inverse kinematic and another inverse kinematic that have the same principle. In this paper we present our preliminary results.KeywordsAnimationInverse kinematicGeometric algebraVirtual humanoid