CCD算法及其在逆运动学中的应用与实现  

CCD Algorithm and Its Application and Realization in Inverse Kinematics

作　　者：阳小涛[1] 杨克俭[1] 

机构地区：[1]武汉理工大学计算机科学与技术学院,武汉430063

出　　处：《重庆工学院学报（自然科学版）》2008年第5期65-68,共4页Journal of Chongqing Institute of Technology

基　　金：国家自然科学基金资助项目(60073057)

摘　　要：针对解决逆运动学问题中常用的解析法和基于矩阵的迭代法的运算量大,实时性差,数学建模困难等缺点,提出了一种可较好解决逆运动学问题的方法——CCD算法.介绍了该算法的思想,并在虚拟人跑步运动控制中实现了此算法.结果表明,该算法求解精度较高.In view of the shortcoming of much operation, bad real-time and many difficulties of geometry modeling by using resolution method or iterative method based on Matrix to resolve the IK problems, a new method called CCD, which can resolve reverse kinematical problems better, is put forward and elaborated, and is realized in running motion control for virtual human. The results show that this method achieves high accuracy of solutions.

关 键 词：逆运动学 CCD算法 跑步控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]