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About: Protein Inverse Kinematics and the Loop Closure Problem

Module by: Lydia E. Kavraki. E-mail the author

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Name: Protein Inverse Kinematics and the Loop Closure Problem
ID: m11613
Language: English (en)
Summary: This module introduces students to inverse kinematics, which is the problem of finding values of the degrees of freedom of a manipulator chain so that the chain satisfies given spatial constraints. An application of inverse kinematics to solve the loop closure problem in structural biology is also presented.
Subject: Science and Technology
Keywords: CCD, cyclic coordinate descent, inverse kinematics, loop closure, manipulator, protein
Document Type: -//CNX//DTD CNXML 0.5 plus MathML//EN
License: Creative Commons Attribution License CC-BY 1.0
Authors: Lydia E. Kavraki (kavraki@rice.edu)
Copyright Holders: Lydia E. Kavraki (kavraki@rice.edu)
Maintainers: Lydia E. Kavraki (kavraki@rice.edu), Amarda Shehu (shehua@cs.rice.edu), David Schwarz (dschwarz@rice.edu), Hernan Stamati (hstamati@cs.rice.edu)
Latest version: 1.12 (history)
First publication date: Sep 23, 2003 7:49 pm GMT-5
Last revision to module: Jun 11, 2007 3:14 am GMT-5
Module XML: m11613_1.12.cnxml

Version History

Version: 1.12 Jun 11, 2007 3:14 am GMT-5 by Hernan Stamati
Changes: 
.
Version: 1.11 Apr 17, 2007 5:02 pm GMT-5 by Hernan Stamati
Changes: 
Fixed formula for sin(theta1) in example 1 solution.
Version: 1.10 Apr 9, 2007 5:42 pm GMT-5 by Hernan Stamati
Changes: 
Enlarged CCD picture and added explanation.
Version: 1.9 Mar 10, 2007 6:30 pm US/Central by Hernan Stamati
Changes: 
Added suggested edits.
Version: 1.8 Aug 31, 2006 3:19 pm GMT-5 by Amarda Shehu
Changes: 
updated reference to Shehu, Clementi, Kavraki paper to published Proteins 2006 paper.
Version: 1.7 Aug 31, 2006 10:17 am GMT-5 by Amarda Shehu
Changes: 
Provided a link to the pdf of the Shehu, Clementi, Kavraki Proteins 2006 publication in the references.
Version: 1.6 May 9, 2006 9:21 pm GMT-5 by Amarda Shehu
Changes: 
Addressed Lydia's comments as of May 9, 2006.
Version: 1.5 Mar 29, 2006 3:58 pm US/Central by Hernan Stamati
Changes: 
Fixed links.
Version: 1.4 Mar 28, 2006 7:21 pm US/Central by David Schwarz
Changes: 
First posting of inverse kinematics module.
Version: 1.3 Mar 23, 2006 4:30 pm US/Central by Chuck Bearden
Changes: 
Publishing to make new roles effective.
Version: 1.2 Sep 23, 2003 8:57 pm GMT-5 by Amarda Shehu
Changes: 
created module
Version: 1.1 Sep 23, 2003 8:54 pm GMT-5 by Amarda Shehu
Changes: 
created this module

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American Chemical Society (ACS) Style Guide:

Kavraki, L. Protein Inverse Kinematics and the Loop Closure Problem, Connexions Web site. http://cnx.org/content/m11613/1.12/, Jun 11, 2007.

American Medical Assocation (AMA) Manual of Style:

Kavraki L. Protein Inverse Kinematics and the Loop Closure Problem [Connexions Web site]. June 11, 2007. Available at: http://cnx.org/content/m11613/1.12/.

American Psychological Assocation (APA) Publication Manual:

Kavraki, L. (2007, June 11). Protein Inverse Kinematics and the Loop Closure Problem. Retrieved from the Connexions Web site: http://cnx.org/content/m11613/1.12/

Chicago Manual of Style (Bibliography):

Kavraki, Lydia. "Protein Inverse Kinematics and the Loop Closure Problem." Connexions. June 11, 2007. http://cnx.org/content/m11613/1.12/.

Chicago Manual of Style (Note):

Lydia Kavraki, "Protein Inverse Kinematics and the Loop Closure Problem," Connexions, June 11, 2007, http://cnx.org/content/m11613/1.12/.

Chicago Manual of Style (Reference, in Author-Date style):

Kavraki, L. 2007. Protein Inverse Kinematics and the Loop Closure Problem. Connexions, June 11, 2007. http://cnx.org/content/m11613/1.12/.

Modern Languages Association (MLA) Style Manual:

Kavraki, Lydia. Protein Inverse Kinematics and the Loop Closure Problem. Connexions. 11 June 2007 <http://cnx.org/content/m11613/1.12/>.