{"id":"https://openalex.org/W4414958970","doi":"https://doi.org/10.1145/3717511.3747066","title":"Real-Time Inverse Kinematics for Generating Multi-Constrained Movements of Virtual Human Characters","display_name":"Real-Time Inverse Kinematics for Generating Multi-Constrained Movements of Virtual Human Characters","publication_year":2025,"publication_date":"2025-09-16","ids":{"openalex":"https://openalex.org/W4414958970","doi":"https://doi.org/10.1145/3717511.3747066"},"language":"en","primary_location":{"id":"doi:10.1145/3717511.3747066","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3717511.3747066","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3717511.3747066","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 25th ACM International Conference on Intelligent Virtual Agents","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3717511.3747066","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081855415","display_name":"Hendric Vo\u00df","orcid":"https://orcid.org/0009-0003-3646-7702"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Hendric Voss","raw_affiliation_strings":["Social Cognitive Systems Group, Bielefeld University, Bielefeld, Germany"],"raw_orcid":"https://orcid.org/0009-0003-3646-7702","affiliations":[{"raw_affiliation_string":"Social Cognitive Systems Group, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043486945","display_name":"Stefan Kopp","orcid":"https://orcid.org/0000-0002-4047-9277"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Kopp","raw_affiliation_strings":["Social Cognitive Systems Group, Bielefeld University, Bielefeld, Germany"],"raw_orcid":"https://orcid.org/0000-0002-4047-9277","affiliations":[{"raw_affiliation_string":"Social Cognitive Systems Group, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5081855415"],"corresponding_institution_ids":["https://openalex.org/I20121455"],"apc_list":null,"apc_paid":null,"fwci":1.0999,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.82471097,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"10"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9986000061035156,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.7832000255584717},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.748199999332428},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5871000289916992},{"id":"https://openalex.org/keywords/virtual-actor","display_name":"Virtual actor","score":0.5037000179290771},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.44519999623298645},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.438400000333786},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4189999997615814},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.3831999897956848},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.3698999881744385},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3619000017642975}],"concepts":[{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.7832000255584717},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7558000087738037},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.748199999332428},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5871000289916992},{"id":"https://openalex.org/C150303390","wikidata":"https://www.wikidata.org/wiki/Q1983852","display_name":"Virtual actor","level":3,"score":0.5037000179290771},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.44519999623298645},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.438400000333786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4251999855041504},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.42329999804496765},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4189999997615814},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.3831999897956848},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.3698999881744385},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3619000017642975},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.3605000078678131},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.3546999990940094},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34529998898506165},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.31769999861717224},{"id":"https://openalex.org/C157553263","wikidata":"https://www.wikidata.org/wiki/Q5168004","display_name":"Coordinate descent","level":2,"score":0.311599999666214},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3111000061035156},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.3012000024318695},{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.29499998688697815},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.2930000126361847},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.28540000319480896},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C25344961","wikidata":"https://www.wikidata.org/wiki/Q192726","display_name":"Virtual machine","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2671000063419342},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2669000029563904},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.25429999828338623},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.25119999051094055}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3717511.3747066","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3717511.3747066","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3717511.3747066","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 25th ACM International Conference on Intelligent Virtual Agents","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2507.00792","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2507.00792","pdf_url":"https://arxiv.org/pdf/2507.00792","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1145/3717511.3747066","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3717511.3747066","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3717511.3747066","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 25th ACM International Conference on Intelligent Virtual Agents","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4414958970.pdf"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1499677911","https://openalex.org/W1564897360","https://openalex.org/W1974477792","https://openalex.org/W1988073274","https://openalex.org/W1999165127","https://openalex.org/W2030727116","https://openalex.org/W2037841262","https://openalex.org/W2067484689","https://openalex.org/W2104275338","https://openalex.org/W2123871098","https://openalex.org/W2124488712","https://openalex.org/W2134159355","https://openalex.org/W2149416133","https://openalex.org/W2155007355","https://openalex.org/W2159579247","https://openalex.org/W2205340216","https://openalex.org/W2793801390","https://openalex.org/W2805114031","https://openalex.org/W2903294927","https://openalex.org/W2964121744","https://openalex.org/W2978956737","https://openalex.org/W3088603271","https://openalex.org/W3107603356","https://openalex.org/W3158593333","https://openalex.org/W3204879450","https://openalex.org/W3205833998","https://openalex.org/W4210696952","https://openalex.org/W4226324916","https://openalex.org/W4281479789","https://openalex.org/W4383376126","https://openalex.org/W4384561334","https://openalex.org/W4389335241","https://openalex.org/W4389667377","https://openalex.org/W4390188740","https://openalex.org/W4395482908","https://openalex.org/W4399173291","https://openalex.org/W4402727140","https://openalex.org/W4404850099","https://openalex.org/W4405754403","https://openalex.org/W4413155966"],"related_works":[],"abstract_inverted_index":{"Generating":[0],"accurate":[1],"and":[2,25,48,70,86,127,140,165],"realistic":[3,40,97,145],"virtual":[4,22],"human":[5,60,98,109],"movements":[6],"in":[7,18,90],"real-time":[8,32,155],"is":[9,176],"of":[10,16,51,65],"high":[11,63],"importance":[12],"for":[13,39,96],"a":[14,30],"variety":[15],"applications":[17],"computer":[19],"graphics,":[20],"interactive":[21],"environments,":[23],"robotics,":[24],"biomechanics.":[26],"This":[27],"paper":[28],"introduces":[29],"novel":[31],"inverse":[33,71],"kinematics":[34,72],"(IK)":[35],"solver":[36,55,153],"specifically":[37],"designed":[38],"human-like":[41],"movement":[42],"generation.":[43],"Leveraging":[44],"the":[45,53,103,107,128],"automatic":[46],"differentiation":[47],"just-in-time":[49],"compilation":[50],"TensorFlow,":[52],"proposed":[54],"efficiently":[56],"handles":[57],"complex":[58],"articulated":[59],"skeletons":[61],"with":[62,144],"degrees":[64],"freedom.":[66],"By":[67],"treating":[68],"forward":[69],"as":[73,83],"differentiable":[74],"operations,":[75],"our":[76,151],"method":[77],"effectively":[78],"addresses":[79],"common":[80],"challenges":[81],"such":[82],"error":[84],"accumulation":[85],"complicated":[87],"joint":[88,146],"limits":[89],"multi-constrained":[91,142],"problems,":[92],"which":[93],"are":[94],"critical":[95],"motion":[99],"modeling.":[100],"We":[101],"demonstrate":[102],"solver's":[104],"effectiveness":[105],"on":[106],"SMPLX":[108],"skeleton":[110],"model,":[111],"evaluating":[112],"its":[113],"performance":[114],"against":[115],"widely":[116],"used":[117],"iterative-based":[118],"IK":[119,152],"algorithms,":[120],"like":[121],"Cyclic":[122],"Coordinate":[123],"Descent":[124],"(CCD),":[125],"FABRIK,":[126],"nonlinear":[129],"optimization":[130],"algorithm":[131],"IPOPT.":[132],"Our":[133],"experiments":[134],"cover":[135],"both":[136],"simple":[137],"end-effector":[138],"tasks":[139],"sophisticated,":[141],"problems":[143],"limits.":[147],"Results":[148],"indicate":[149],"that":[150],"achieves":[154],"performance,":[156],"exhibiting":[157],"rapid":[158],"convergence,":[159],"minimal":[160],"computational":[161],"overhead":[162],"per":[163],"iteration,":[164],"improved":[166],"success":[167],"rates":[168],"compared":[169],"to":[170],"existing":[171],"methods.":[172],"The":[173],"project":[174],"code":[175],"available":[177],"at":[178],"https://github.com/hvoss-techfak/JAX-IK":[179]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-11T06:11:40.159057","created_date":"2025-10-09T00:00:00"}