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Student
Title
Supervisor
Faculty
Educational Programme
Final Grade
Year of Graduation
Egor Oxterov
Program for 3D Humanoid Animation Using Inverse Kinematics Approach
School of Software Engineering
Bachelor’s programme
8
2014
Today inverse kinematics algorithms are pushing the edge of human knowledge of realistic animation. They came to computer graphics from robotics and equipped with power of modern computers, still undergo substantial changes. In the present work, two common methods from robotics are described: CCD – Cyclic Coordinate Descent and Jacobian Inverse. Despite their ubiquity, these methods are not ideal. We need to understand the connection between the inverse kinematics problem and mathematical optimization to develop more powerful algorithms. Driven by this objective, this work describes CCD, Inverse Jacobian and BFGS methods as an evolution of thought. In the best case it might probably inspire the reader to make some generalizations and develop algorithm with better characteristics than the ones presented.This work is also accompanied with the demonstration program which is why in addition to inverse kinematics algorithms the reader can find the description of rendering pipeline and architecture of the application. This knowledge should help in the deep discoveries within the source code and might help in extending application’s functionality.

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