Inverse kinematicsIn computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.
Forward kinematicsIn robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.
Robot kinematicsIn robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.
KinematicsKinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.
Kinematic chainIn mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs.
Motion captureMotion capture (sometimes referred as mo-cap or mocap, for short) is the process of recording the movement of objects or people. It is used in military, entertainment, sports, medical applications, and for validation of computer vision and robots. In filmmaking and video game development, it refers to recording actions of human actors and using that information to animate digital character models in 2D or 3D computer animation. When it includes face and fingers or captures subtle expressions, it is often referred to as performance capture.
FamilyFamily (from familia) is a group of people related either by consanguinity (by recognized birth) or affinity (by marriage or other relationship). It forms the basis for social order. The purpose of the family is to maintain the well-being of its members and of society. Ideally, families offer predictability, structure, and safety as members mature and learn to participate in the community. Historically, most human societies use family as the primary locus of attachment, nurturance, and socialization.
Nuclear familyA nuclear family, elementary family, atomic family, cereal-packet family or conjugal family is a family group consisting of parents and their children (one or more), typically living in one home residence. It is in contrast to a single-parent family, the larger extended family, or a family with more than two parents. Nuclear families typically center on a heterosexual married couple which may have any number of children. There are differences in definition among observers.
Facial motion captureFacial motion capture is the process of electronically converting the movements of a person's face into a digital database using cameras or laser scanners. This database may then be used to produce computer graphics (CG), computer animation for movies, games, or real-time avatars. Because the motion of CG characters is derived from the movements of real people, it results in a more realistic and nuanced computer character animation than if the animation were created manually.
Pose trackingIn virtual reality (VR) and augmented reality (AR), a pose tracking system detects the precise pose of head-mounted displays, controllers, other objects or body parts within Euclidean space. Pose tracking is often referred to as 6DOF tracking, for the six degrees of freedom in which the pose is often tracked. Pose tracking is sometimes referred to as positional tracking, but the two are separate. Pose tracking is different from positional tracking because pose tracking includes orientation whereas and positional tracking does not.
Apple IIGSThe Apple IIGS (styled as II), the fifth and most powerful of the Apple II family, is a 16-bit personal computer produced by Apple Computer. While featuring the Macintosh look and feel, and resolution and color similar to the Amiga and Atari ST, it remains compatible with earlier Apple II models. The "GS" in the name stands for "Graphics and Sound", referring to its enhanced multimedia hardware, especially its state-of-the-art audio.
Computer mouseA computer mouse (plural mice, also mouses) is a hand-held pointing device that detects two-dimensional motion relative to a surface. This motion is typically translated into the motion of the pointer (called a cursor) on a display, which allows a smooth control of the graphical user interface of a computer. The first public demonstration of a mouse controlling a computer system was in 1968. Mice originally used two separate wheels to directly track movement across a surface: one in the X-dimension and one in the Y.
Sine and cosineIn mathematics, sine and cosine are trigonometric functions of an angle. The sine and cosine of an acute angle are defined in the context of a right triangle: for the specified angle, its sine is the ratio of the length of the side that is opposite that angle to the length of the longest side of the triangle (the hypotenuse), and the cosine is the ratio of the length of the adjacent leg to that of the hypotenuse. For an angle , the sine and cosine functions are denoted simply as and .
Inverse trigonometric functionsIn mathematics, the inverse trigonometric functions (occasionally also called arcus functions, antitrigonometric functions or cyclometric functions) are the inverse functions of the trigonometric functions (with suitably restricted domains). Specifically, they are the inverses of the sine, cosine, tangent, cotangent, secant, and cosecant functions, and are used to obtain an angle from any of the angle's trigonometric ratios. Inverse trigonometric functions are widely used in engineering, navigation, physics, and geometry.
Schröder's equationSchröder's equation, named after Ernst Schröder, is a functional equation with one independent variable: given the function h, find the function Ψ such that Schröder's equation is an eigenvalue equation for the composition operator Ch that sends a function f to f(h(.)). If a is a fixed point of h, meaning h(a) = a, then either Ψ(a) = 0 (or ∞) or s = 1. Thus, provided that Ψ(a) is finite and Ψ′(a) does not vanish or diverge, the eigenvalue s is given by s = h′(a).
Degrees of freedom (mechanics)In physics, the degrees of freedom (DOF) of a mechanical system is the number of independent parameters that define its configuration or state. It is important in the analysis of systems of bodies in mechanical engineering, structural engineering, aerospace engineering, robotics, and other fields. The position of a single railcar (engine) moving along a track has one degree of freedom because the position of the car is defined by the distance along the track.
Iterated functionIn mathematics, an iterated function is a function X → X (that is, a function from some set X to itself) which is obtained by composing another function f : X → X with itself a certain number of times. The process of repeatedly applying the same function is called iteration. In this process, starting from some initial object, the result of applying a given function is fed again in the function as input, and this process is repeated. For example on the image on the right: with the circle‐shaped symbol of function composition.
Jacobian matrix and determinantIn vector calculus, the Jacobian matrix (dʒəˈkəʊbiən, dʒᵻ-,_jᵻ-) of a vector-valued function of several variables is the matrix of all its first-order partial derivatives. When this matrix is square, that is, when the function takes the same number of variables as input as the number of vector components of its output, its determinant is referred to as the Jacobian determinant. Both the matrix and (if applicable) the determinant are often referred to simply as the Jacobian in literature.
Analytic continuationIn complex analysis, a branch of mathematics, analytic continuation is a technique to extend the domain of definition of a given analytic function. Analytic continuation often succeeds in defining further values of a function, for example in a new region where the infinite series representation which initially defined the function becomes divergent. The step-wise continuation technique may, however, come up against difficulties. These may have an essentially topological nature, leading to inconsistencies (defining more than one value).
Validity (statistics)Validity is the main extent to which a concept, conclusion or measurement is well-founded and likely corresponds accurately to the real world. The word "valid" is derived from the Latin validus, meaning strong. The validity of a measurement tool (for example, a test in education) is the degree to which the tool measures what it claims to measure. Validity is based on the strength of a collection of different types of evidence (e.g. face validity, construct validity, etc.) described in greater detail below.
