【摘要】 研究了虚拟人的步行和跑步两种基本运动模型及其运动控制方法。首先提出了人体的几何模型和运动学模型 ,其次对人体行走和跑步模型进行分析后 ,提出了用关键帧 ,正向、逆向运动学和简单动力学适当结合的控制方法 ,实现了周期的步行、跑步等移动动作 ,并引入运动特征参量来控制步行和跑步速度、频率及步幅特征更多还原

【Abstract】 Two basic locomotion models of walking and running for virtual humans and their control methods is studied. To insure that the behavior of virtual human conforms to the motion rule and characteristics of humans, the body geometrical and kinematics models are given firstly. Then a control technology, which combines the keyframing, forward kinematics, inverse kinematics and simple dynamics methods, is presented to generate the periodical walking and running. To make walking and running actions with different velocity, frequency and step length, we introduce the motion characteristic parameters.更多还原