基于运动学方法研究人体运动的计算机实现

Computer Implementation of Human Athletics Study based on Kinematics Methods

详细论述了逆运动学方法实现的人体走、跑运动。运动模型是基于人体步态实验多次观察的实验数据构建的。运动控制主要分 3个层级 :首先根据输入参数 (速度、步态 )确定控制运动所需参数 (步长、周期等 ) ;第二层 ,用曲线拟合脚踝及质心在笛卡尔空间中的运动轨迹 ;第三层 ,用逆运动学方法求出人体模型在关节空间中的状态。控制中高层参数的调节可以生成同一种运动的不同运动姿态 ;同时 ,逆运动学方法的使用保证了运动的实时性。最后 。

A human walking and running simulation method is presented based on the inverse kinematics. The model is built from the experimental data based on a wide range of gait characteristics are generated according to the input parameters; At the second level, the the position of ankle and center in the Cartesian Space is produced by a set of parameterized trajectories. At the third level, the body configuration in joint space is determined by using inverse kinematics. The high parameters allow the user to animation the motion with several parameters and the different motion gait can be produced easily. The inverse kinematics and the different motion gait can be produced easily. Since the inverse kinematics mechanism is used in the computation, interactivity can be easily achieved. In the end the experiment result is presented.