A computer simulation study of a single rigid body dynamic model for biped postural control
Contributors: Naval Postgraduate School (U.S.) 
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1997
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 164
Subjects: VIRTUAL REALITY; HUMAN BODY; COMPUTERIZED SIMULATION
Description: Existing kinematics models for humans cannot simulate movement beyond geometric constraints. On the other      hand, complex dynamics models are computationally expensive for real time computer graphics applications in      Virtual Environments(VE). To be able to create a more realistic, real time, and computationally efficient human      model, a simple dynamic model needs to be developed. The approach taken in this thesis was to develop a single      rigid body dynamic human model with massless legs. Instead of a Lagrangian model, which complicates the      calculations exponentially as the complexity of the system increases, the Newton-Euler method was chosen to      derive system differential equations. Linear state feedback was used for postural control. As part of this research, a      previous realistic looking human model is further developed. The major conclusion of this thesis is that a single rigid      body dynamic model can be used for simulation of postural control. The simulation results contained in this thesis      show that such a modeling technique could be used to cause a detailed kinematic representation of a human figure      to move in a smooth and realistic way without resorting to complexity of a multi-link dynamic model.
Notes: Thesis advisors, Robert B. McGhee and Michael J. Zyda.

AD-A331 492.

Thesis (M.S. in Computer Science) Naval Postgraduate School, March 1997.

Includes bibliographical references (p. 159-161)

dk/dk cc:9116 10/24/97