A 12-DOF Analytic Inverse Kinematics Solver for Human Motion Control

In this paper, a new inverse kinematics (IK) solver is introduced which can solve a multiple constrained 12-DOF human limb analytically with the joint limits taken into account. By combining the IK solver with multilevel curve fitting technique, we enable the user to specify constrains on few keyframes through a mouse or keyboard, then the joint angles of the figure at each keyframe are automatically calculated by the IK solver, and the motion displacement of every joint at each constrained frame is propagated to neighboring frames. The motion editing method presented here is fast and convenient for creating various new realistic human motions from captured motion clips. We demonstrate that our technique can be used for retargeting motion to new environments. Furthermore, the graphic user interface we developed is friendly and convenient for manipulation, and our algorithm is rather fast.