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中文摘要：
为了更加真实且实时地模拟运动中虚拟人恢复平衡的反应动作，提出一种针对受到外界作用力扰动的虚拟人平衡保持算法，首先通过虚拟人质心位移和速度来判断平衡性；然后借助生物力学的研究成果设计了具有人体特性的虚拟人运动受扰后的平衡保持方法，并用动力学进行模拟，驱动虚拟人完成平衡恢复，实验结果表明：该算法计算效率高，符合人体的生物力学特性，并且具有良好的交互性与较好的视觉效果，适用于虚拟人动画合成。
英文摘要：
In order to simulate characters to recover balance in locomotion, we put forward a balance keeping algorithm for virtual characters which receive contact forces from others. In the first stage, our system determines balance by the displacement and velocity of its centre of mass. In the second stage, according to the recent research results of human biomechanics, we present balance keeping methods with humankind characteristics. That is, the system first dynamically simulates characters when they lose balance, and then drives characters to take several balance keeping behaviors to recover balance. The experiments show the high efficiency of motion generation and the results accord well with characteristics of humankind. With high interaction and satisfactory vision effect, our algorithm can be used in virtual character animation generation area.
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