考虑舒适度的人体运动仿真算法.pdfVIP

系 统 仿 真 学 报 Vol. 16 No. 1 • 126 • JOURNAL OF SYSTEM SIMULATION Jan. 2004 考虑舒适度的人体运动仿真算法 杨 锋，袁修干 （北京航空航天大学航空科学与工程学院, 北京 100083 ） 摘 要：在分析了人体自身的运动反馈控制机理的基础上，引入舒适度作为虚拟人体运动控制的性 能指标函数，提出了一种基于舒适度优化的虚拟人体运动控制算法，该算法综合考虑了反向运动学、 反向动力学以及人体工效学等因素，避免了单纯从动力学方面求解所带来的虚拟人体动画所隐含的 力量冲突，提高了仿真结果的真实性和合理性。利用该算法对人体上肢的运动进行了研究，计算结 果和实验结果吻合良好。 关键词：人体运动；仿真；运动控制；舒适度 文章编号：1004-731X(2004)01-0126-03 中图分类号：TP391 文献标识码：A A Motor Control Algorithm for Virtual Human Considering Comfort Level Optimization YANG Feng, YUAN Xiu-gan (School of Aeronautic Science and Technology, Beijing University of Aeronautics and Astronautics, Beijing 100083, China) Abstract: Based on the human’s feedback control of motor, comfort level, an ergonomics index has been adopted as the performance function of the motor control for virtual human. An algorithm, taking into account the comfort level, has been proposed for simulation of the human motor. The algorithm, which blends inverse kinematics, inverse dynamics and human ergonomics information, avoids the collision between the human position and strength produced only using the dynamics or kinematics. It enhances the accuracy and reasonability of simulation. The motion of the arm has been studied using the algorithm. Theoretical and experimental results are in good agreement. Keywords: virtual human; simulation; motion control; comfort level 1 小并不能真正全面的代表人体的舒适程度，应该以所用力矩 引 言