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Efficient inverse kinematics algorithm based on conformal geometric algebra

Using reconfigurable hardware
: Hildenbrand, Dietmar; Lange, Holger; Stock, Florian; Koch, Andreas

Braz, J. ; Institute for Systems and Technologies of Information, Control and Communication -INSTICC-, Setubal; University of Madeira:
GRAPP 2008, Third International Conference on Computer Graphics Theory and Applications. Proceedings : Funchal, Madeira, Portugal, January 22 -- 25, 2008
Porto: INSTICC Press, 2008
ISBN: 978-989-8111-20-3
International Conference on Computer Graphics Theory and Applications (GRAPP) <3, 2008, Funchal>
Conference Paper
Fraunhofer IGD ()
geometric algebra; geometric computing; computer animation; reconfigurable hardware

This paper presents a very efficient approach for algorithms developed based on conformal geometric algebra using reconfigurable hardware. We use the inverse kinematics of the arm of a virtual human as an example, but we are convinced that this approach can be used in a wide field of computer animation applications. We describe the original algorithm on a very high geometrically intuitive level as well as the resulting optimized algorithm based on symbolic calculations of a computer algebra system. The main focus then is to demonstrate our approach for the hardware implementation of this algorithm leading to a very efficient implementation.