抄録
This paper proposes a method to compute inverse kinematics of a multi-body system at all given time-series instances and identify its geometric parameters at the same time. The geometric parameters are represented by the virtual generalized coordinates which are constant during all time sequences. The method solves the large-scale inverse kinematics to compute the all the generalized coordinates of all instances and the constant virtual coordinates. The inverse kinematics computation is accelerated by decomposed gradient computation based on recursive Newton-Euler formulation. The method was tested to identify the parameters of a 34-DOF human model using a motion capture system, and the results are to be shown.
