Motion Generation by Secondary Skeletons of Inverse Kinematics

Abstract

We propose motion generation computed by redundant parameters of inverse kinematics (IK) from an optimized secondary skeleton constructed based on a bodily skeleton. The secondary skeleton numerically embeds arbitrary characteristics of motions into the mechanism of IK and thus preserves their plausibility for similar movements of end-effectors. The feasibility of this extended IK is demonstrated with the motions generated by deforming the trajectory of hands or feet.