DYNAMIC SIMULATION OF A COMPLEX HUMAN FIGURE MODEL WITH LOW-LEVEL BEHAVIOR CONTROL

Advances in computer hardware and software technology allow the simula tion of natural phenomena in increasing levels of complexity. This res earch is concerned with simulating the articulated movements of humans using the laws of physical motion, and contributes to the fields of c omputer animation and biomechanics. A 90 degree of freedom model of a human figure is developed, and an efficient dynamic simulator is emplo yed to create and analyze physically based, computer-generated motions . The foot of the simulated human figure has been modeled with a signi ficant amount of kinematic complexity, with 28 degrees of freedom per foot. A joint-level control layer uses springs and dampers to control postures and movements, Inverse dynamics and inverse control can be us ed to calibrate the spring actuators to exactly achieve specified post ural goals, A framework for higher level control is implemented, altho ugh specific tasks require tailored control strategies. Several exampl e tasks are simulated and described, including a stable standing postu re and the stepping phase of walking using passive dynamic effects to generate much of the motion. Together, the simulator and biomechanical model create a framework that can be used to address problems in comp uter animation and biomechanical research, and eventually, in a clinic al setting, to assist doctors in analyzing the problems of specific pa tients.