Fast Inverse Kinematics Based on Pseudo-Forward Dynamics Computation: Application to Musculoskeletal Inverse Kinematics

Recently, fast and practical inverse kinematics (IK) methods for complicated human models have gained considerable interest owing to the spread of convenient motion-capture or human-augmentation technologies. Although IK algorithms developed in robotics can also be applied humans, they experience computational speed issues, especially real-time applications. This paper presents a new algorithm based on Levenberg–Marquardt (LM) method, LM-PFD (Pseudo-Forward Dynamics), which is remarkably effective particularly systems with large degree freedom (DoF). In proposed ${\mathrm{O}(N)}$ forward dynamics utilized by introducing virtual dynamical system derived from damping weighing factors used LM method. The firstly introduces basic implementation open kinematic chains. Subsequently, an enhanced presented address closed chains, specifically focusing wire-driven systems. method was tested musculoskeletal models. time model approximately 150 DoF 300 wires within 5 ms.