Publication

An inverse kinematics architecture enforcing an arbitrary number of strict priority levels

Ronan Boulic
2004
Journal Articles

Abstract

An efficient inverse kinematics solver is a key element in applications targeting the on-line or off-line postural control of complex articulated figures. In the present paper we progressively describe the strategic components of a very general and robust inverse kinematics architecture. We then present an efficient recursive algorithm enforcing an arbitrary number of strict priorities to arbitrate the fulfillment of conflicting constraints. Due to its local nature, the moderate cost of the solution allows this architecture to run within an interactive environment. The algorithm is illustrated on the postural control of complex articulated figures

Official source

https://infoscience.epfl.ch/entities/publication/02c75de8-e095-42b5-9798-bc28c593cf27

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Ronan Boulic
2004
Journal Articles

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/02c75de8-e095-42b5-9798-bc28c593cf27

About this result

Related concepts (32)

Priority queue

In computer science, a priority queue is an abstract data-type similar to a regular queue or stack data structure. Each element in a priority queue has an associated priority. In a priority queue, elements with high priority are served before elements with low priority. In some implementations, if two elements have the same priority, they are served in the same order in which they were enqueued. In other implementations, the order of elements with the same priority is undefined.

Constraint satisfaction problem

Constraint satisfaction problems (CSPs) are mathematical questions defined as a set of objects whose state must satisfy a number of constraints or limitations. CSPs represent the entities in a problem as a homogeneous collection of finite constraints over variables, which is solved by constraint satisfaction methods. CSPs are the subject of research in both artificial intelligence and operations research, since the regularity in their formulation provides a common basis to analyze and solve problems of many seemingly unrelated families.

Priority inversion

In computer science, priority inversion is a scenario in scheduling in which a high priority task is indirectly superseded by a lower priority task effectively inverting the assigned priorities of the tasks. This violates the priority model that high-priority tasks can only be prevented from running by higher-priority tasks. Inversion occurs when there is a resource contention with a low-priority task that is then preempted by a medium-priority task.

Related publications (32)

An inverse kinematics architecture enforcing an arbitrary number of strict priority levels

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