publication . Article . Other literature type . 2011

FABRIK: A fast, iterative solver for the Inverse Kinematics problem

Andreas Aristidou; Joan Lasenby;
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  • Published: 01 Sep 2011 Journal: Graphical Models, volume 73, pages 243-260 (issn: 1524-0703, Copyright policy)
  • Publisher: Elsevier BV
Abstract
Inverse Kinematics is defined as the problem of determining a set of appropriate joint configurations for which the end effectors move to desired positions as smoothly, rapidly, and as accurately as possible. However, many of the currently available methods suffer from high computational cost and production of unrealistic poses. In this paper, a novel heuristic method, called Forward And Backward Reaching Inverse Kinematics (FABRIK), is described and compared with some of the most popular existing methods regarding reliability, computational cost and conversion criteria. FABRIK avoids the use of rotational angles or matrices, and instead finds each joint positio...
Subjects
free text keywords: Mathematical optimization, Inverse kinematics, Robot end effector, law.invention, law, Motion reconstruction, Heuristic, Matrix (mathematics), Solver, Mathematics
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