Real-time inverse kinematics techniques for anthropomorphic limbs

In this paper we develop a set of inverse kinematics algorithms suitable fo r an anthropomorphic arm or leg. We use a combination of analytical and num erical methods to solve generalized inverse kinematics problems including p osition, orientation, and aiming constraints. Our combination of analytical and numerical methods results in faster and more reliable algorithms than conventional inverse jacobian and optimization-based techniques. Additional ly, unlike conventional numerical algorithms, our methods allow the user to interactively explore all possible solutions using an intuitive set of par ameters that define the redundancy of the system. (C) 2000 Academic Press.