{"id":"https://openalex.org/W1970760696","doi":"https://doi.org/10.1145/1101616.1101651","title":"Computing inverse kinematics with linear programming","display_name":"Computing inverse kinematics with linear programming","publication_year":2005,"publication_date":"2005-11-07","ids":{"openalex":"https://openalex.org/W1970760696","doi":"https://doi.org/10.1145/1101616.1101651","mag":"1970760696"},"language":"en","primary_location":{"id":"doi:10.1145/1101616.1101651","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1101616.1101651","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM symposium on Virtual reality software and technology","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080180158","display_name":"Edmond S. L. Ho","orcid":"https://orcid.org/0000-0001-5862-106X"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Edmond S. L. Ho","raw_affiliation_strings":["City University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014324841","display_name":"Taku Komura","orcid":"https://orcid.org/0000-0002-2729-5860"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Taku Komura","raw_affiliation_strings":["City University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006197413","display_name":"Rynson W. H. Lau","orcid":"https://orcid.org/0000-0002-8957-8129"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Rynson W. H. Lau","raw_affiliation_strings":["City University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5080180158"],"corresponding_institution_ids":["https://openalex.org/I168719708"],"apc_list":null,"apc_paid":null,"fwci":38.7654,"has_fulltext":false,"cited_by_count":112,"citation_normalized_percentile":{"value":0.99839943,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"163","last_page":"166"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11439","display_name":"Video Analysis and Summarization","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.787553071975708},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.784213662147522},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7473990321159363},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6467286944389343},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5666572451591492},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5578718781471252},{"id":"https://openalex.org/keywords/lagrange-multiplier","display_name":"Lagrange multiplier","score":0.5367361903190613},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.5345275402069092},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4157556891441345},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32472872734069824},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2696453332901001},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16089361906051636},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11817017197608948},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08749416470527649}],"concepts":[{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.787553071975708},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.784213662147522},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7473990321159363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6467286944389343},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5666572451591492},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5578718781471252},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.5367361903190613},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.5345275402069092},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4157556891441345},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32472872734069824},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2696453332901001},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16089361906051636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11817017197608948},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08749416470527649},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1145/1101616.1101651","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1101616.1101651","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM symposium on Virtual reality software and technology","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.704.4630","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.704.4630","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.comp.hkbu.edu.hk/%7Eedmond/vrst05.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.76.9253","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.76.9253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cityu.edu.hk/~rynson/papers/vrst05.pdf","raw_type":"text"},{"id":"pmh:oai:eprints.gla.ac.uk:276407","is_oa":false,"landing_page_url":"https://eprints.gla.ac.uk/276407/","pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":false,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceedings"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2015003349","https://openalex.org/W2017913224","https://openalex.org/W2029903115","https://openalex.org/W2049617391","https://openalex.org/W2053886812","https://openalex.org/W2097944344","https://openalex.org/W2100790457","https://openalex.org/W2111921539","https://openalex.org/W2139038136","https://openalex.org/W3088063282"],"related_works":["https://openalex.org/W2186864281","https://openalex.org/W4255427455","https://openalex.org/W2607470227","https://openalex.org/W2074745806","https://openalex.org/W1966025497","https://openalex.org/W4319592072","https://openalex.org/W4319592070","https://openalex.org/W2014928560","https://openalex.org/W4387314894","https://openalex.org/W2898458249"],"abstract_inverted_index":{"Inverse":[0],"Kinematics":[1],"(IK)":[2],"is":[3,69,83,109],"a":[4,18,110],"popular":[5],"technique":[6],"for":[7,25,113,122],"synthesizing":[8],"motions":[9],"of":[10,28,36,49,54,67,103],"virtual":[11],"characters.":[12],"In":[13],"this":[14],"paper,":[15],"we":[16],"propose":[17],"Linear":[19],"Programming":[20],"based":[21,78],"IK":[22,76,88],"solver":[23,89],"(LPIK)":[24],"interactive":[26],"control":[27],"arbitrary":[29],"multibody":[30],"structures.":[31],"There":[32],"are":[33],"several":[34],"advantages":[35],"using":[37],"LPIK.":[38],"First,":[39],"inequality":[40],"constraints":[41,104,121],"can":[42,60],"be":[43,61],"handled,":[44],"and":[45,52,120],"therefore":[46],"the":[47,50,55,65,75,86,101],"ranges":[48],"DOFs":[51,119],"collisions":[53],"body":[56],"with":[57,117],"other":[58],"obstacles":[59],"handled":[62],"easily.":[63],"Second,":[64],"performance":[66],"LPIK":[68,95,108],"comparable":[70],"or":[71,105],"sometimes":[72],"better":[73],"than":[74],"method":[77],"on":[79],"Lagrange":[80],"multipliers,":[81],"which":[82],"known":[84],"as":[85],"best":[87],"today.":[90],"The":[91],"computation":[92],"time":[93],"by":[94],"increases":[96],"only":[97],"linearly":[98],"proportional":[99],"to":[100],"number":[102],"DOFs.":[106],"Hence,":[107],"suitable":[111],"approach":[112],"controlling":[114],"articulated":[115],"systems":[116],"large":[118],"real-time":[123],"applications.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":9}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
