Método de cinemática inversa en tiempo real basado en FABRIK para estructuras altamente restrictas

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dc.contributor.advisorCharalambos Hernández, Jean Pierre
dc.contributor.authorChaparro Cuevas, Sebastian Eduardo
dc.date.accessioned2021-07-30T14:58:32Z
dc.date.available2021-07-30T14:58:32Z
dc.date.issued2021
dc.descriptionilustraciones, tablasspa
dc.description.abstractEste trabajo introduce un método de cinemática inversa en tiempo real para estructuras altamente restrictas mediante el uso de pasos heurísticos, definidos en el espacio de las orientaciones, que pueden acoplarse para producir resultados precisos y movimientos suaves. Estos pasos buscan aprovechar las mejores propiedades de tres de los algoritmos heurísticos más relevantes en el estado del arte: Cyclic Coordinate Descent (CCD), Triangulation (TIK) y Forward and Backward Reaching Inverse Kinematics (FABRIK), prestando mayor interés en este último dado su correcto desempeño en términos de suavidad visual. Adicionalmente, se introduce el algoritmo Generic Heuristic Inverse Kinematics (GHIK) encargado de aplicar los pasos propuestos de forma iterativa, garantizar el cumplimiento de las restricciones rotacionales y evitar situaciones de estancamiento; además, es capaz de trabajar con objetivos orientacionales y estructuras articuladas con múltiples efectores finales. Los resultados obtenidos muestran que la aproximación descrita puede aplicarse en tiempo real sobre estructuras arbitrarias complejas y que su desempeño en términos de precisión, escalabilidad y suavidad visual, es superior al obtenido por otras heurísticas en estado del arte. (Texto tomado de la fuente)spa
dc.description.abstractThis thesis introduces a novel Inverse Kinematics (IK) method for highly constrained articulated bodies via real time heuristic steps, given in orientation space, that may be coupled together in order to generate accurate and visually smooth results. These steps harness widely known IK heuristic algorithms best properties, such as Cyclic Coordinate Descent (CCD), Triangulation (TIK) and Forward and Backward Reaching Inverse Kinematics (FABRIK), focusing on the last one due to its visual smoothness. It is also introduced a Generic Heuristic algorithm (GHIK) that solves IK iteratively using the introduced heuristic steps and is able to deal with orientation constraints, deadlock issues, target orientations and articulated bodies with multiple end effectors. Obtained results suggest that the proposed approach is able to solve IK in real time for complex arbitrary articulated bodies and outperforms other tested heuristics regarding accuracy, scalability and visual smoothness. (Text taken from source)eng
dc.description.degreelevelMaestríaspa
dc.description.degreenameMagíster en Ingeniería - Ingeniería de Sistemas y Computaciónspa
dc.description.researchareaComputación gráficaspa
dc.format.extent109 páginasspa
dc.format.mimetypeapplication/pdfspa
dc.identifier.instnameUniversidad Nacional de Colombiaspa
dc.identifier.reponameRepositorio Institucional Universidad Nacional de Colombiaspa
dc.identifier.repourlhttps://repositorio.unal.edu.co/spa
dc.identifier.urihttps://repositorio.unal.edu.co/handle/unal/79872
dc.language.isospaspa
dc.publisherUniversidad Nacional de Colombiaspa
dc.publisher.branchUniversidad Nacional de Colombia - Sede Bogotáspa
dc.publisher.departmentDepartamento de Ingeniería de Sistemas e Industrialspa
dc.publisher.facultyFacultad de Ingenieríaspa
dc.publisher.placeBogotá, Colombiaspa
dc.publisher.programBogotá - Ingeniería - Maestría en Ingeniería - Ingeniería de Sistemas y Computaciónspa
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dc.rightsDerechos reservados al autor, 2021spa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.rights.licenseReconocimiento 4.0 Internacionalspa
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/spa
dc.subject.ddc620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingenieríaspa
dc.subject.lembCinemática
dc.subject.lembKinematics
dc.subject.proposalCinemática inversaspa
dc.subject.proposalRestricciones rotacionalesspa
dc.subject.proposalReconstrucción de movimientospa
dc.subject.proposalAnimación de personajesspa
dc.subject.proposalInverse kinematicseng
dc.subject.proposalRotational constraintseng
dc.subject.proposalMotion reconstructioneng
dc.subject.proposalCharacter animationeng
dc.subject.unescoRobótica
dc.subject.unescoRobotics
dc.subject.unescoControl automático
dc.subject.unescoAutomatic control
dc.titleMétodo de cinemática inversa en tiempo real basado en FABRIK para estructuras altamente restrictasspa
dc.title.translatedFABRIK based real-time inverse kinematics method for highly constrained articulated bodieseng
dc.typeTrabajo de grado - Maestríaspa
dc.type.coarhttp://purl.org/coar/resource_type/c_bdccspa
dc.type.coarversionhttp://purl.org/coar/version/c_ab4af688f83e57aaspa
dc.type.contentTextspa
dc.type.driverinfo:eu-repo/semantics/masterThesisspa
dc.type.redcolhttp://purl.org/redcol/resource_type/TMspa
dc.type.versioninfo:eu-repo/semantics/acceptedVersionspa
oaire.accessrightshttp://purl.org/coar/access_right/c_abf2spa

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