publication . Article . Software Paper . 2016

Caliko: An Inverse Kinematics Software Library Implementation of the FABRIK Algorithm

Alastair Lansley;
Open Access English
  • Published: 09 Sep 2016 Journal: Journal of Open Research Software (issn: 2049-9647, Copyright policy)
  • Publisher: Ubiquity Press
Abstract
The Caliko library is an implementation of the FABRIK (Forward And Backward Reaching Inverse Kinematics) algorithm written in Java. The inverse kinematics (IK) algorithm is implemented in both 2D and 3D, and incorporates a variety of joint constraints as well as the ability to connect multiple IK chains together in a hierarchy. The library allows for the simple creation and solving of multiple IK chains as well as visualisation of these solutions. It is licensed under the MIT software license and the source code is freely available for use and modification at: <a href="https://github.com/feduni/caliko" target="_blank">https://github.com/feduni/caliko</a>
Subjects
free text keywords: Inverse, Kinematics, IK, FABRIK, Software, Library, Robotics, Leap, Java, Computer software, QA76.75-76.765, software library, inverse kinematics, Inverse; Kinematics; IK; FABRIK; Software; Library; Robotics; Leap; Java

1. Aristidou, A and Lasenby, J 2011 FABRIK: a fast, iterative solver for the inverse kinematics problem. Graphical Models, 73(5), pp. 243-260. DOI: http://dx.doi. org/10.1016/j.gmod.2011.05.003 [OpenAIRE]

2. Leap Motion Sensor Viewed 01 February 2016. https://www.leapmotion.com/product/desktop.

3. The Caliko Inverse Kinematics Library Viewed 05 February 2016. https://youtube/wEtp4P2ucYk.

4. Apache Maven build management tool Viewed 26 July 2016. https://maven.apache.org/.

5. Buss, S R 2004 Introduction to inverse kinematics with jacobian transpose, pseudoinverse and damped least squares methods. IEEE Journal of Robotics and Automation, 17(1-19), p.16.

6. Aristidou, A and Lasenby, J 2009 Inverse kinematics: a review of existing techniques and introduction of a new fast iterative solver. University of Cambridge, Department of Engineering. [OpenAIRE]

7. FULLIK JavaScript version of the Caliko IK library Viewed 02 August 2016. https://github.com/lo-th/ fullik.

Related research
Abstract
The Caliko library is an implementation of the FABRIK (Forward And Backward Reaching Inverse Kinematics) algorithm written in Java. The inverse kinematics (IK) algorithm is implemented in both 2D and 3D, and incorporates a variety of joint constraints as well as the ability to connect multiple IK chains together in a hierarchy. The library allows for the simple creation and solving of multiple IK chains as well as visualisation of these solutions. It is licensed under the MIT software license and the source code is freely available for use and modification at: <a href="https://github.com/feduni/caliko" target="_blank">https://github.com/feduni/caliko</a>
Subjects
free text keywords: Inverse, Kinematics, IK, FABRIK, Software, Library, Robotics, Leap, Java, Computer software, QA76.75-76.765, software library, inverse kinematics, Inverse; Kinematics; IK; FABRIK; Software; Library; Robotics; Leap; Java

1. Aristidou, A and Lasenby, J 2011 FABRIK: a fast, iterative solver for the inverse kinematics problem. Graphical Models, 73(5), pp. 243-260. DOI: http://dx.doi. org/10.1016/j.gmod.2011.05.003 [OpenAIRE]

2. Leap Motion Sensor Viewed 01 February 2016. https://www.leapmotion.com/product/desktop.

3. The Caliko Inverse Kinematics Library Viewed 05 February 2016. https://youtube/wEtp4P2ucYk.

4. Apache Maven build management tool Viewed 26 July 2016. https://maven.apache.org/.

5. Buss, S R 2004 Introduction to inverse kinematics with jacobian transpose, pseudoinverse and damped least squares methods. IEEE Journal of Robotics and Automation, 17(1-19), p.16.

6. Aristidou, A and Lasenby, J 2009 Inverse kinematics: a review of existing techniques and introduction of a new fast iterative solver. University of Cambridge, Department of Engineering. [OpenAIRE]

7. FULLIK JavaScript version of the Caliko IK library Viewed 02 August 2016. https://github.com/lo-th/ fullik.

Related research
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