A Robust Real-Time Control Algorithm for Whole-Body Running

Dynamic simulations of human movement are becoming increasingly important in biomechanics, computer animation, clinical and military applications. It complements experimental approaches by providing capabilities not generally offered by the experimental approaches. Nonetheless, the dynamic simulation of human movement remains one of great challenges in biomechanics due to the high-mobility of the human body and the redundancy of body control. Over past decades, various methods have been developed to simulate human motion.