In view of the characteristics of human body when walking, the human skeleton was simplified into 16 rigid-body based on the multi-rigid-body dynamics model. Then, the generalized coordinate vector, the mass matrix, and the generalized force vector were constructed by using variational equations of motion of the rigid-body. After that, the positive dynamics analysis, reverse dynamics analysis and static eqquilibrium analysis were made to find out the external constraints. Finally, the virtual human body motion control model was constructed. The simulation gave the walk muscle torque, the continuous frame, and single walk results, in which the lateral muscle of ankle joint contracts, producing greater pedal force. The walking pace of ascending state decreases. There is a remarkable change in the angle of human torso, and the rotaion angle of single-frame connection increases.%针对人体行走的特点,采用多刚体动力学模型.首先把人体骨架简化为16个刚体;然后通过刚体变分运动方程,构造系统的广义坐标矢量、质量矩阵及广义力矢量;接着对正向动力学分析、逆向动力学分析与静平衡分析,求出外力约束条件结果;最后建立虚拟人体运动控制模型.实验仿真给出步行肌肉力矩、连续帧以及单步行结果,其中踝关节前侧肌肉收缩,可产生较大的后蹬力,上行状态步速降低,躯干角度变化明显,单帧连接点转动的角度大.
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