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。

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The optimal control algorithm targeting at reducing emission in transient state is the core of the study, and the torque coordination control between the engine and the motor serves as a basis.

以降低瞬态过程排放为目标的优化控制算法是本文的核心研究内容，柴油机和电机的转矩协调控制是降低排放的基础。

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