本文以四元数、递归动力学和优化控制为基础，提出了一种基于力矩优化的虚拟人运动控制算法。
This paper presents a motion control algorithm for virtual human based on torque optimization. The algorithm is founded on the use of quaternion, recursive dynamics and optimal control.
本文以四元数、递归动力学和优化控制为基础，提出了一种基于力矩优化的虚拟人运动控制算法。
This paper presents a motion control algorithm for virtual human based on torque optimization. The algorithm is founded on the use of quaternion, recursive dynamics and optimal control.
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