부산대학교 도서관

This article proposes a non-iterative zero-error fast inverse kinematics algorithm (NZFIK) based on the follow the leader (FTL) algorithm for human motion restoration with a small amount of sensor data. It can calculate joint positions point by point with the strategy of minimizing root pose changes. The algorithm can quickly calculate typical joint connection forms such as chain and closed-loop, and compared with the forward and backward reaching inverse kinematics (FABRIK) algorithm, it significantly improves computational efficiency while obtaining approximate results. Finally, this article takes the rigid connection solution of human upper limb joints as an example to validate the effectiveness of the algorithm. The results show that the NZFIK algorithm has good performance in restoring human upper limb posture based on a small number of end effectors on the wrist and head.