Simulations of human body motion involve different fields of study such as robotics, from nano to macroscale, and biomechanics. The simulation of human motion is a challenging problem from the physical and computational perspectives and several models have been proposed in literature. Using a methodology named predictive dynamics, this work aims to propose a 2D spatial model of human walking during the single stance phase (SSP), using a flat foot adaptation. The model is based on inverse dynamics in which the angular displacements are interpolated by 5th degree B-splines. The equation of motion is developed by the recursive Lagrangian formulation due to its computational efficiency. An optimization problem is set up to obtain the control points of the B-splines using as the objective function the dynamic effort, which is a limited power supply. The constraints imposed on the motion are time-dependent, such as the torque/angle limits, and the dynamic stability criterion defined by the zero moment point (ZMP), or time-independent, such the equation of motion and step length. All the steps are explained in detail to find the dynamics of the body using the smallest number of laboratory results. The solution from the model is favorably compared to Winter’s data, in particular the ground reaction forces, which is important in many engineering applications.

人体运动的模拟涉及不同的研究领域，例如机器人技术，从纳米到宏观，以及生物力学。从物理和计算的角度来看，人体运动的模拟是一个具有挑战性的问题，文献中已经提出了几种模型。使用一种名为预测动力学的方法，这项工作旨在提出一个人类在单步阶段 (SSP) 期间行走的二维空间模型，使用扁平足适应。该模型基于逆动力学，其中角位移由 5 度 B 样条插值。由于其计算效率，运动方程由递归拉格朗日公式开发。建立一个优化问题来获得 B 样条的控制点，使用动态努力作为目标函数，这是一个有限的电源。对运动施加的约束与时间有关，例如扭矩/角度限制和由零力矩点 (ZMP) 定义的动态稳定性标准，或与时间无关，例如运动方程和步长。详细解释了所有步骤，以使用最少的实验室结果找到身体的动力学。该模型的解与 Winter 的数据相比具有优势，尤其是地面反作用力，这在许多工程应用中都很重要。详细解释了所有步骤，以使用最少的实验室结果找到身体的动力学。该模型的解与 Winter 的数据相比具有优势，尤其是地面反作用力，这在许多工程应用中都很重要。详细解释了所有步骤，以使用最少的实验室结果找到身体的动力学。该模型的解与 Winter 的数据相比具有优势，尤其是地面反作用力，这在许多工程应用中都很重要。