Inverse Kinematics Positioning Using Nonlinear Programming for
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So, we approach this problem through nonlinear programming techniques. …… The gradient projection method for nonlinear programming, Part I, Linear …
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Inverse Kinematics Positioning Using
Nonlinear Programming
for Highly Articulated Figures
JIANMIN ZHAO and NORMAN 1. BADLER
University of Pennsylvania
An articulated figure is often modeled as a set of rigid segments connected with joints. Its
configuration can be altered by varying the joint angles. Although it is straightforward to
compute figure configurations given joint angles (forward kinematics), it is more difficult to find
the joint angles for a desired configuration (inverse kinematics). Since the inverse kinematics
problem is of special importance to an animator wishing to set a figure to a posture satisfying a
set of positioning constraints,…
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