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Three dimensional animation of human movement may be obtained by specifying movements in a goal-directed manner and constructing a sophisticated simulator to execute those movements. We briefly describe an architecture for such a simulator and then concentrate on five special problems which arise: scheduling movements which occur concurrently, computing motion of three-link chains, processing contacts, moving the center of gravity and maintaining balance, and adjusting limb twist for a standard orientation.
Badler et al. (Tue,) studied this question.