Inverse Kinematics
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0:58elxenoaizd What is Inverse Kinematics, how does it work and why do we care?
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0:58elxenoaizd What is Inverse Kinematics, how does it work and why do we care?
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0:58elxenoaizd What is Inverse Kinematics, how does it work and why do we care?
🗪
2:05Blackboard: Kinematics
2:05Blackboard: Kinematics
2:05Blackboard: Kinematics
7:54Blackboard: Degree of Freedom
7:54Blackboard: Degree of Freedom
7:54Blackboard: Degree of Freedom
13:04Blackboard: Summary of Kinematics
13:04Blackboard: Summary of Kinematics
13:04Blackboard: Summary of Kinematics
13:48Blackboard: End Effector
13:48Blackboard: End Effector
13:48Blackboard: End Effector
15:03Blackboard: Inverse Kinematics
15:03Blackboard: Inverse Kinematics
15:03Blackboard: Inverse Kinematics
19:41"I.K. is a nasty, nasty, nasty problem"α
19:41"I.K. is a nasty, nasty, nasty problem"α
19:41"I.K. is a nasty, nasty, nasty problem"α
21:10Blackboard: Inverse trigonometry is always harder than trigonometry
21:10Blackboard: Inverse trigonometry is always harder than trigonometry
21:10Blackboard: Inverse trigonometry is always harder than trigonometry
24:36Blackboard: Typically underdetermined and, if not, it's discontinuous
24:36Blackboard: Typically underdetermined and, if not, it's discontinuous
24:36Blackboard: Typically underdetermined and, if not, it's discontinuous
32:37Blackboard: Possible techniques for solving an underdetermined system
32:37Blackboard: Possible techniques for solving an underdetermined system
32:37Blackboard: Possible techniques for solving an underdetermined system
35:08Blackboard: Discontinuousness
35:08Blackboard: Discontinuousness
35:08Blackboard: Discontinuousness
36:50Blackboard: There are usually joint limits
36:50Blackboard: There are usually joint limits
36:50Blackboard: There are usually joint limits
38:40Blackboard: Operations research
38:40Blackboard: Operations research
38:40Blackboard: Operations research
40:19Blackboard: Linear complementarity solver [see Resources]
40:19Blackboard: Linear complementarity solver [see Resources]
40:19Blackboard: Linear complementarity solver [see Resources]
43:04Blackboard: Usually you don't need to mathematically accurately solve I.K. problems
43:04Blackboard: Usually you don't need to mathematically accurately solve I.K. problems
43:04Blackboard: Usually you don't need to mathematically accurately solve I.K. problems
45:59Mr4thDimention I would think boundary conditions would help to move you towards being more determined, so why don't each of those two problems reduce the severity of the other?
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45:59Mr4thDimention I would think boundary conditions would help to move you towards being more determined, so why don't each of those two problems reduce the severity of the other?
🗪
45:59Mr4thDimention I would think boundary conditions would help to move you towards being more determined, so why don't each of those two problems reduce the severity of the other?
🗪
47:52elxenoaizd Thanks for the awesome answer. I was intending to use I.K. to solve for foot placement on uneven terrain, so we have an animation of the dude moving, and want to place his foot correctly on the ground. Is that hard?
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47:52elxenoaizd Thanks for the awesome answer. I was intending to use I.K. to solve for foot placement on uneven terrain, so we have an animation of the dude moving, and want to place his foot correctly on the ground. Is that hard?
🗪
47:52elxenoaizd Thanks for the awesome answer. I was intending to use I.K. to solve for foot placement on uneven terrain, so we have an animation of the dude moving, and want to place his foot correctly on the ground. Is that hard?
🗪
50:24Blackboard: Cyclic coordinate descent
50:24Blackboard: Cyclic coordinate descent
50:24Blackboard: Cyclic coordinate descent
52:52Close it down
52:52Close it down
52:52Close it down