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並前往https://www.semanticscholar.org/paper/IK-FA%2C-a-New-Heuristic-Inverse-Kinematics-Solver-Rokbani-Casals/92c1326dafc626325a2d76bb77ece256a3465361

IK-FA, a New Heuristic Inverse Kinematics Solver Using Firefly ...

The heuristic approach for solving inverse kinematics without computing the inverse model, IK-FA tends to minimize the distance to a target position, ...

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