학술논문
Fast Inverse Kinematics Based on Pseudo-Forward Dynamics Computation: Application to Musculoskeletal Inverse Kinematics
Document Type
Periodical
Author
Source
IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 8(9):5775-5782 Sep, 2023
Subject
Language
ISSN
2377-3766
2377-3774
2377-3774
Abstract
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 the IK algorithms developed in robotics can also be applied to humans, they experience computational speed issues, especially in real-time applications. This letter presents a new IK algorithm based on the Levenberg–Marquardt (LM) method, LM-PFD (Pseudo-Forward Dynamics), which is remarkably effective particularly in systems with a large degree of freedom (DoF). In the proposed method, the ${\mathrm{O}(N)}$ forward dynamics algorithm is utilized by introducing a virtual dynamical system derived from damping or weighing factors used in the LM method. The letter firstly introduces the basic implementation of LM-PFD for open kinematic chains. Subsequently, an enhanced implementation is presented to address closed kinematic chains, specifically focusing on wire-driven systems. The proposed method was tested on the IK of musculoskeletal models. The computational time of the model with approximately 150 DoF and 300 wires was within 5 ms.