NDLI: Inverse Kinematics Computation in Computer Graphics and Robotics Using Conformal Geometric Algebra

Content Provider	Springer Nature Link
Author	Zamora, Julio Hildenbrand, Dietmar Bayro Corrocha, Eduardo
Copyright Year	2008
Abstract	We focus on inverse kinematics applications in computer graphics and robotics based on Conformal Geometric Algebra. Here, geometric objects like spheres and circles that are often needed in inverse kinematics algorithms are simply represented by algebraic objects.We present algorithms for the inverse kinematics of a human arm like kinematic chain and for the grasping of robots and virtual humans. The main benefits of using geometric algebra in the virtual reality software Avalon are the easy, compact and geometrically intuitive formulation of the algorithms and the immediate computation of quaternions.
Ending Page	713
Page Count	15
Starting Page	699
File Format	PDF
ISSN	01887009
e-ISSN	16614909
Journal	Advances in Applied Clifford Algebras
Issue Number	3
Volume Number	18
Language	English
Publisher	SP Birkhäuser Verlag Basel
Publisher Date	2008-05-27
Publisher Place	Basel
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Mathematical Methods in Physics Inverse Kinematics Clifford algebras, spinors Mathematical and Computational Physics Spinor and twistor methods Quantum groups (quantized enveloping algebras) and related deformations Clifford algebras Representations of finite symmetric groups Applications of Mathematics Physics
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics

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Inverse Kinematics Computation in Computer Graphics and Robotics Using Conformal Geometric Algebra