Caliko: An Inverse Kinematics Software Library Implementation of the FABRIK Algorithm

Alastair Lansley; Peter Vamplew; Philip Smith; Cameron Foale

doi:10.5334/jors.116

Caliko: An Inverse Kinematics Software Library Implementation of the FABRIK Algorithm

Authors

Alastair Lansley Federation University Australia https://orcid.org/0000-0001-7734-4205
Peter Vamplew Federation University Australia https://orcid.org/0000-0002-8687-4424
Philip Smith Federation University Australia https://orcid.org/0000-0001-5138-3206
Cameron Foale Federation University Australia https://orcid.org/0000-0003-2537-0326

DOI:

https://doi.org/10.5334/jors.116

Keywords:

Inverse, Kinematics, IK, FABRIK, Software, Library, Robotics, Leap, Java

Abstract

The Caliko library is an implementation of the FABRIK (Forward And Backward Reaching Inverse Kinematics) algorithm written in Java. The inverse kinematics (IK) algorithm is implemented in both 2D and 3D, and incorporates a variety of joint constraints as well as the ability to connect multiple IK chains together in a hierarchy. The library allows for the simple creation and solving of multiple IK chains as well as visualisation of these solutions. It is licensed under the MIT software license and the source code is freely available for use and modification at: https://github.com/feduni/caliko

Author Biographies

Alastair Lansley, Federation University Australia

Alastair is a lecturer at Federation University Australia where he teaches mobile application development, graphics programming and 3D modelling. He is also undertaking a PhD through Publication on the topic of "New Wave Input: An Exploration of Novel Input Technologies and their Uses".

Peter Vamplew, Federation University Australia

Currently an Associate Professor and Associate Dean (Research) in the School of Science, Engineering and Information Technology at Federation University Australia (Ballarat, Victoria, Australia).

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Published

2016-09-09

Issue

Vol. 4 No. 1 (2016)

Section

Software Metapapers

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