手法を比較

	順運動学	逆動力学
分野	バイオメカニクス	バイオメカニクス
系統	Process / pipeline	Process / pipeline
提唱年	1986	1990
提唱者	John Craig	David Winter
種類	Computational geometric pipeline	Computational analysis pipeline
原典	Craig, J. J. (2005). Introduction to Robotics: Mechanics and Control (3rd ed.). Pearson.	Winter, D. A. (1990). Biomechanics and Motor Control of Human Movement. Wiley-Interscience.
別名	FK, Kinematic chain, Anatomical chain	Inverse problem, Biomechanical inverse dynamics
関連	3	3
概要	Forward kinematics is the calculation of the position and orientation of a distal body segment (such as the hand) based on the joint angles of proximal segments. Originally formalized in robotics by John Craig and adapted to biomechanics, it allows practitioners to predict endpoint location from known joint configuration.	Inverse dynamics is a biomechanical analysis technique that estimates the forces and moments acting on joints during movement by working backward from observed motion and ground reaction forces. Introduced by David Winter in the early 1990s, it is fundamental to understanding how muscles and joints generate and control human motion.