Inverse Kinematics (IK) has been an active research topic and many methods have been introduced to provide a fast and accurate solution. However, high computational cost and the generation of unrealistic positions constitute the weak points in most existing IK methods. In this paper, a comparative study was established to analyze the performance of popular IK techniques applied to the human leg. The objective is to determine the most efficient method in terms of computation time and to reach the desired position with a realistic human posture while respecting the range of motion and joint comfort zones of every joint.

翻译：逆运动学（IK）一直是活跃的研究课题，已有多种方法被提出以提供快速准确的求解方案。然而，现有大多数IK方法存在计算成本高、生成不合理位姿等弱点。本文针对人体腿部这一应用场景，对主流IK技术的性能开展了对比研究。其目标旨在确定在计算时间上最为高效、且能在达到目标位姿的同时保持拟真人姿态的方法，该方法需满足每个关节的运动范围并兼顾关节舒适域。