A comparative study of human inverse kinematics techniques for lower limbs

TL;DR

A comprehensive comparative analysis of leading IK methods applied to the human leg, aiming to identify the most effective approach to optimize IK solutions for practical applications in biomechanics and animation.

Abstract

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.

Figures (17)

• Figure 1: Model of the right lower limb in a sagittal plane
• Figure 2: Physiological lower limbs diagram
• Figure 3: Neural network structure
• Figure 4: Generated trajectory of the lower limb
• Figure 5: Joints angular tracking using CCD method. For this simulation, $\theta_1^{min}=0^{\circ}$, $\theta_1^{max}=120^{\circ}$, $\theta_2^{min}=0^{\circ}$, $\theta_2^{max}=117^{\circ}$, $\theta_3^{min}=51^{\circ}$ and $\theta_3^{max}=126^{\circ}$.