Human-like motion generation for a virtual manikin

An algorithm for both the human-like motion generation and the joint torques computation for a virtual manikin is addressed in this paper. This goal has been achieved using some techniques derived from robotics. In particular, the so-called augmented Jacobian has been used to solve the inverse kinematics problem with a single closed loop inverse kinematics algorithm. Furthermore, a position control for the center of mass of the kinematic chain, and for its projection on the support plane (Center of Pressure), has been implemented. Thus, the inverse kinematics can be solved taking into account the static balance of the manikin. Moreover, the proposed algorithm allows simulating quite complex tasks, which involve the motion of the whole manikin, by means of only few task-related control points. The resulting movements are quite natural even for complex tasks. Finally, the joint torques can be computed thanks to the kineto-statics duality: the results are in accordance with biomechanical analyses.