In this project we formulate the problem of Inverse Kinematics as an unconstrained optimization. For each frame, a pose "q" is solved to be minimized; thus, we solved for a sequence of optimizations to obtain a motion. The input is a C3D file with 3D coordinates for each marker.

Project Video

Goal

Formulate the problem of inverse kinematics as an unconstrained optimization

For each frame, solve for a pose q that minimizes

Solve for a sequence of optimizations to obtain a motion

Greatest gradient descent

At each iteration of optimization, you need to compute gradient of current F(q)

Pick a value of alpha smaller than 1 to advance to the next iteration

Constraint derivatives

What do we need? A direction to move joints in such way that the constraint handles move towards the goal

What do derivatives tell us? A direction constraint handles move if joints move

I am pursuing my MS in Computer Science at Georgia Institute of Technology (GaTech) with emphasis in Computer Graphics. I received by BS in Computer Science at GaTech in 2009 with specialization in Software Engineering and Computer Graphics.