Full Body Adjustment Using Iterative Inverse Kinematic and Body Parts Correlation

In this paper, we present an iterative inverse kinematic method that adjust 3D human full body pose in real time to achieve new constraints. The input data for the adjustments are the starting posture and the desired end effectors positions -constraints-. The principal idea of our method is to divide the full-body into groups and apply inverse kinematic based on conformal algebra to each group in specific order, our proposed method involve correlation of body parts. In the first part of the paper we explain the used inverse kinematic when handle with one and multiple constraints simultaneously and in the case of the collision induced by the joints with the objects of the environment. The second part focuses on the adjustment algorithm of the full body using the inverse kinematic described above. Comparison is made between the used inverse kinematic(IK) and another inverse kinematic that have the same principle. In the case of multiple tasks simultaneously, our inverse kinematic gives results without con ict. With presence of obstacles, our IK allows to avoid collisions too. Preliminary results of the adjustment method show that it generates new realistic poses that respect quickly new constraints. The tests made on our adjustment method show that it resolves the motion retargeting problem.