【摘要】 本文以四元数、递归动力学和优化控制为基础 ,提出了一种基于力矩优化的虚拟人运动控制算法。该算法使我们能够有效地处理关节位置和力矩约束 ,解决虚拟人的约束动力学问题 ,使虚拟人的运动不仅符合动力学规律 ,而且能量消耗最少 ,从而有效地实现了对人类作业的仿真和评估。实验结果证明了算法的有效性。更多还原

【Abstract】 This paper presents a motion control algorithm for virtual human based on torque optimization.The algorithm is founded on the use of quaternion,recursive dynamics and optimal control.It allows us to efficiently handle constraints such as joint position limits and torque limits,and solve constrained dynamics with virtual human.Thus,the motion of virtual human not only accords with the laws of dynamics,but also minimizes energy expenditure.Thereby,human task simulation and evaluation are realized by the algorithm.Experiment results demonstrate the efficacy of the algorithm.更多还原