Animation

Forward Kinematic

This project aim to show how to use forward kinematic. I won’t go through the nitty-gritty details here, I will write a separate blog post (TBD) explaining all the code thoroughly with all the technical details. I used as reference a 3D hand model. I inserted two key-frames, for each bone, using Blender: an initial and a final position…

Inverse Kinematic

I implemented the Cyclic Coordinate Descent (CCD) based on 1998 Jeff Lander’s tutorial. This technique was first outlined by Li-Chun Tommy Wang and Chih Cheng Chen in a paper in the IEEE Transactions on Robotics and Automation. CCD involves minimizing the system error by…