基于逆运动学的虚拟人行走

Inverse Kinematics-based Walking of Virtual Humans

研究了虚拟人的行走模型和基于逆运动学的运动控制方法。首先对虚拟人的行走模型进行了分析,然后对运动学和逆运动学中的核心问题雅可比矩阵的构建及其伪逆矩阵的求解进行了探讨,最后结合关键帧技术实现了虚拟人行走运动控制的仿真系统。

Basic locomotion models of walking for virtual humans and their inverse kinematics-based control methods are studied in this paper. First, locomotion models of walking for virtual humans are analyzed. Then, the main problems of forward kinematics and inverse kinematics, which are the building of Jacobian Matrix and solving of pseudoinverse, are discussed. At last, the simulationsystem of controlling locomotion of walking for virtual humans is realized. The keyframe technique is also used in this simulation system.