Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs

By Deepak Tolani, Ambarish Goswami, N. Badler. Graphical Models, 2000

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HybrIK: A Hybrid Analytical-Neural Inverse Kinematics Solution for 3D Human Pose and Shape Estimation (2020, methodology): “[62] propose a reliable algorithm by the combination of analytical and numerical methods.”
Synthesizing multimodal utterances for conversational agents (2004, methodology): “Then, the inverse kinematics of the 7-DOF anthropomorphic arm is solved using an analytical algorithm from the IKAN package.(20) The arm’s redundancy is interpreted as ‘swivel’ angle ’e of the elbow about the shoulder–wrist axis and is either controlled by a dedi-”
Kinematic jump processes for monocular 3D human tracking (2003, background): “Kinematic Jump + CSS Diffusion Based Tracker Input: The setC of permissible kinematic chain partitions to use for sampling, and the previous posterior p(xt−1|Rt−1) = ∑K i=1 π t−1 i N (µt−1i , Σt−1i ).”
Spatial reasoning for human robot interaction (2007, methodology): “IKAN[ 12 ] algorithm which return a comfortable configuration among other possible ones because of the redundancy of the arm structure.”
An inverse kinematics architecture enforcing an arbitrary number of strict priority levels (2004, background): “General closed forms do not exist, but when considered independently, the limbs of 3-D characters can exploit a robust and fast analytical solution [13, 14, 26].”