diff --git a/Assets/UniGLTF/Runtime/UniHumanoid/Humanoid.cs b/Assets/UniGLTF/Runtime/UniHumanoid/Humanoid.cs
index 3e70358be..2b099488e 100644
--- a/Assets/UniGLTF/Runtime/UniHumanoid/Humanoid.cs
+++ b/Assets/UniGLTF/Runtime/UniHumanoid/Humanoid.cs
@@ -437,5 +437,19 @@ namespace UniHumanoid
 
             return true;
         }
+
+        public bool TryGetBoneForTransform(Transform t, out HumanBodyBones bone)
+        {
+            foreach (var (v, k) in BoneMap)
+            {
+                if (v == t)
+                {
+                    bone = k;
+                    return true;
+                }
+            }
+            bone = default;
+            return false;
+        }
     }
 }
diff --git a/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10BoneWithAxis.cs b/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10BoneWithAxis.cs
new file mode 100644
index 000000000..e131d2d1a
--- /dev/null
+++ b/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10BoneWithAxis.cs
@@ -0,0 +1,108 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace UniVRM10
+{
+    /// <summary>
+    /// このクラスのヒエラルキーが 正規化された TPose を表している。
+    /// 同時に、元のヒエラルキーの初期回転を保持する。
+    /// Apply 関数で、再帰的に正規化済みのローカル回転から初期回転を加味したローカル回転を作って適用する。
+    /// </summary>
+    public class Vrm10BoneWithAxis
+    {
+        public readonly HumanBodyBones Bone;
+
+        /// <summary>
+        /// 元のヒエラルキーの対応ボーン
+        /// </summary>
+        public readonly Transform Target;
+
+        /// <summary>
+        /// 回転と拡大縮小を除去した(正規化された)ボーン。
+        /// このボーンに対して localRotation を代入する。
+        /// </summary>
+        public readonly Transform Normalized;
+
+        /// <summary>
+        /// 元のボーンの初期回転。
+        /// </summary>
+        public readonly Quaternion InitialLocalRotation;
+
+        public readonly Quaternion ToLocal;
+
+        public List<Vrm10BoneWithAxis> Children = new List<Vrm10BoneWithAxis>();
+
+        public Vrm10BoneWithAxis(Transform current, Quaternion parentInverse, HumanBodyBones bone)
+        {
+            if (bone == HumanBodyBones.LastBone)
+            {
+                throw new ArgumentNullException();
+            }
+            if (current == null)
+            {
+                throw new ArgumentNullException();
+            }
+            Bone = bone;
+            Target = current;
+            Normalized = new GameObject(bone.ToString()).transform;
+            Normalized.position = current.position;
+            // InitialLocalRotation = parentInverse * current.rotation;
+            InitialLocalRotation = current.localRotation;
+            // InitialLocalRotation = current.rotation;
+            ToLocal = current.rotation;
+        }
+
+        public static Vrm10BoneWithAxis Build(UniHumanoid.Humanoid humanoid, Dictionary<HumanBodyBones, Vrm10BoneWithAxis> boneMap)
+        {
+            var hips = new Vrm10BoneWithAxis(humanoid.Hips, Quaternion.identity, HumanBodyBones.Hips);
+
+            foreach (Transform child in humanoid.Hips)
+            {
+                Traverse(humanoid, child, hips, boneMap);
+            }
+
+            return hips;
+        }
+
+        private static void Traverse(UniHumanoid.Humanoid humanoid, Transform current, Vrm10BoneWithAxis parent, Dictionary<HumanBodyBones, Vrm10BoneWithAxis> boneMap)
+        {
+            if (humanoid.TryGetBoneForTransform(current, out var bone))
+            {
+
+                // ヒューマンボーンだけを対象にするので、
+                // parent が current の直接の親でない場合がある。
+                // ワールド回転 parent^-1 * current からローカル回転を算出する。
+                var parentInverse = Quaternion.Inverse(parent.Target.rotation);
+
+                var newBone = new Vrm10BoneWithAxis(current, parentInverse, bone);
+                newBone.Normalized.SetParent(parent.Normalized, true);
+                parent.Children.Add(newBone);
+                parent = newBone;
+                boneMap.Add(bone, newBone);
+            }
+
+            foreach (Transform child in current)
+            {
+                Traverse(humanoid, child, parent, boneMap);
+            }
+        }
+
+        /// <summary>
+        /// 親から再帰的にNormalized の ローカル回転を初期回転を加味して Target に適用する。
+        /// </summary>
+        public void ApplyRecursive(Quaternion worldParentRotation)
+        {
+            // var pose = InitialLocalRotation * Normalized.localRotation * Quaternion.Inverse(InitialLocalRotation);
+            // var pose = Quaternion.Inverse(InitialLocalRotation) * Normalized.localRotation * InitialLocalRotation;
+            Target.localRotation = InitialLocalRotation * Quaternion.Inverse(ToLocal) * Normalized.localRotation * ToLocal;
+            // Target.localRotation = InitialLocalRotation * Normalized.localRotation; // * Quaternion.Inverse(InitialLocalRotation);
+            // Target.localRotation = InitialLocalRotation;
+
+            foreach (var child in Children)
+            {
+                child.ApplyRecursive(Normalized.rotation);
+            }
+        }
+    }
+}
diff --git a/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10BoneWithAxis.cs.meta b/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10BoneWithAxis.cs.meta
new file mode 100644
index 000000000..35e73e07c
--- /dev/null
+++ b/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10BoneWithAxis.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: eac40a89a1de8bc4a8d97b3cc2aea5fb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10FkRetarget.cs b/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10FkRetarget.cs
new file mode 100644
index 000000000..1b08b21b5
--- /dev/null
+++ b/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10FkRetarget.cs
@@ -0,0 +1,38 @@
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace UniVRM10
+{
+    public class Vrm10FkRetarget
+    {
+        Vrm10BoneWithAxis m_root;
+
+        Dictionary<HumanBodyBones, Vrm10BoneWithAxis> m_boneMap = new Dictionary<HumanBodyBones, Vrm10BoneWithAxis>();
+
+        Vector3 m_initialHipsPosition;
+
+        public Vrm10FkRetarget(UniHumanoid.Humanoid humanoid)
+        {
+            m_root = Vrm10BoneWithAxis.Build(humanoid, m_boneMap);
+            m_initialHipsPosition = m_root.Target.position;
+        }
+
+        public void Apply()
+        {
+            m_root.Target.position = m_root.Normalized.position;
+            m_root.ApplyRecursive(Quaternion.identity);
+        }
+
+        public Transform GetBoneTransform(HumanBodyBones bone)
+        {
+            if (m_boneMap.TryGetValue(bone, out var value))
+            {
+                return value.Normalized;
+            }
+            else
+            {
+                return null;
+            }
+        }
+    }
+}
diff --git a/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10FkRetarget.cs.meta b/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10FkRetarget.cs.meta
new file mode 100644
index 000000000..e48351021
--- /dev/null
+++ b/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10FkRetarget.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 3c0af836ff386dd469cfedbd238ab2a5
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10Runtime.cs b/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10Runtime.cs
index 15f504d54..ddace679e 100644
--- a/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10Runtime.cs
+++ b/Assets/VRM10/Runtime/Components/Vrm10Runtime/Vrm10Runtime.cs
@@ -14,6 +14,17 @@ namespace UniVRM10
     public class Vrm10Runtime : IDisposable
     {
         private readonly Vrm10Instance m_target;
+
+        Vrm10FkRetarget m_fkRetarget;
+        public Vrm10FkRetarget GetOrCreateFkRetarget()
+        {
+            if (m_fkRetarget == null)
+            {
+                m_fkRetarget = new Vrm10FkRetarget(m_target.Humanoid);
+            }
+            return m_fkRetarget;
+        }
+
         private readonly IVrm10Constraint[] m_constraints;
         private readonly Transform m_head;
         private readonly FastSpringBoneService m_fastSpringBoneService;
@@ -152,6 +163,11 @@ namespace UniVRM10
         /// </summary>
         public void Process()
         {
+            if (m_fkRetarget != null)
+            {
+                m_fkRetarget.Apply();
+            }
+
             //
             // constraint
             //