Inverse Kinematics using Quaternions

In this project I describe the status of inverse kinematics research, with the focus firmly on the methods that solve the core problem. An overview of the different methods are presented Three common methods used in inverse kinematics computation have been chosen as subject for closer inspection. The three methods are described in some detail. An analysis is performed where the three methods are compared, and benchmarked against each other. I conclude which of the methods are the most promising and what their respective forces, weaknesses and prospects are. All figures shown are made using the test suite, developed in this project and in [4]. Source code developed for this project includes the CCD method , improvements on the BFGS method and Jacobian inverse originally developed in [4]. 1 Figure 2: Figure reaching for a moving ball, posed with bfgs. The figure have been constrained to obtain a more realistic pose. The source can be found at http://www.opentissue.org/svn/OpenTissue/branches/IK/.