下肢のための人間逆運動学手法の比較研究
A comparative study of human inverse kinematics techniques for lower limbs
人間の脚に適用した主要な逆運動学手法を計算効率と関節可動域を守った自然な姿勢の生成能力で比較評価し、生体力学やアニメーションに最適な手法を明らかにした。
著者: Zineb Benhmidouch, Saad Moufid, Aissam Ait Omar
分類: cs.RO, cs.AI
原文アブストラクト
Inverse Kinematics (IK) remains a dynamic field of research, with various methods striving for speed and precision. Despite advancements, many IK techniques face significant challenges, including high computational demands and the risk of generating unrealistic joint configurations. This paper conducts a comprehensive comparative analysis of leading IK methods applied to the human leg, aiming to identify the most effective approach. We evaluate each method based on computational efficiency and its ability to produce realistic postures, while adhering to the natural range of motion and comfort zones of the joints. The findings provide insights into optimizing IK solutions for practical applications in biomechanics and animation.
