摘要
在计算机上模拟真实人行走是计算机仿真的一个基本问题。人体行走是一种伴随着碰撞、摩擦和滑动的复杂的系统运动,为了实现模拟的逼真性,需要着重在运动控制上进行研究。首先对人体行走进行分析并建立了简单的人体模型,然后详细给出行走过程中关节点位置的数学描述,最后采用逆运动学求解雅可比矩阵的方法并结合动力学知识,运用VC++.NET和OpenGL为编程工具以骨架模型实现了虚拟人行走。
Simulating the walking of human body is a basic problem in computer. Human walking is a special kind of the system motion with the occurrence of impacts, friction and slipping. In order to make the model realistic, control methods are emphasized. At first the characters of walking are analyzed and the simple model of human body is presented. Then the position of joint points is given detailedly with mathematical method. At last, making use of a method which is a combination of inverse kinematics to solve Jacobian matrix and dynamics knowledge and tools such as VC＋＋.NET and openGL, the realistic simulation of walking is implemented by using stick model.
出处
《计算机工程与设计》
CSCD
北大核心
2006年第15期2871-2873,共3页
Computer Engineering and Design
关键词
虚拟人行走
数学描述
逆运动学
动力学
仿真
walking of virtual human
mathematical representation
inverse kinematics
dynamics
simulation
