Improved Damped Least Squares Solution with Joint Limits, Joint Weights and Comfortable Criteria for Controlling Human-like Figures

In order to generate natural posture and motion of virtual human-like figures, damped least squares inverse kinematics method is modified. Physical rules of human being like joint limits, joint weights and comfortable criteria are introduced to the design of damping factors for the improved damped least squares solution. The proposed method performs well on guaranteeing joint limit avoidance and producing natural-looking postures. This new scheme is successfully implemented and tested for real-time control of a seven-degree-of-freedom virtual human skeletal upper limb. Experiment results show that the improved solution is more robust and stable than the original damped least squares method.