Simulation of human running

We describe algorithms for the control of locomotion of a simulated planar model of a human. The rigid body model has seventeen degrees of freedom and dynamic parameters approximating those given in the literature for humans. The locomotion control algorithms allow the model to run at a variety of speeds. The motion produced by the simulation can be used to produce realistic computer animations and interactive, synthetic actors for virtual environments. These algorithms also provide insight into how robotic mechanisms that resemble the complexity of humans might be controlled.<
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