中文摘要：

人体运动仿真是生物力学、机器人学和计算机科学交叉产生的研究领域,其目的是建立计算模型模拟人体在给定约束下自然真实的物理运动.与一般的人体动画相比,人体运动仿真要求合成的人体运动满足牛顿定律.因此,人体运动仿真除了可用于特效制作,还可用于物理任务的操作培训和学习等方面.首先介绍人体运动仿真的起源与典型应用,然后阐述人体运动仿真研究的关键技术.在关键技术介绍中,引入人体运动仿真研究中使用的人体简化几何模型和物理模型,然后将人体运动仿真方法分成两类：基于前向动力学方法与基于逆向动力学方法,并详细介绍它们的发展历程和最新研究进展.最后从交互动作的仿真、仿真结果验证等几方面讨论人体运动仿真未来可能的发展方向.

英文摘要：

Physics-based human motion simulation is a cross research field in robotics,biomechanics and computer science,whose research goal is to build a computable model for human movement such that the natural human motion satisfying the given constraints could be simulated in the virtual environment.Compared with the traditional human animation,the simulated human motion must obey the Newton＇s law of motion.And therefore physics-based human motion simulation can be used for not only the special effects generation but also the education and training of physical tasks.Firstly,the origin of human motion simulation and some typical applications are introduced.Secondly,the key technologies of human motion simulation are elaborated.In this part,the simplified geometry model and physics model of human used in human motion simulation is introduced.And then the current methods are classified into two types：the forward dynamics based human motion simulation and the inverse dynamics based human motion simulation.The development history and recent research of these two methods are introduced in detail.Finally,based on the simulation of interactive action between human and objects,the verification of the result of simulation and so on,some future directions in human motion simulation are discussed.