详细论述了逆运动学方法实现的人体走、跑运动。运动模型是基于人体步态实验多次观察的实验数据构建的。运动控制主要分 3个层级 :首先根据输入参数 (速度、步态 )确定控制运动所需参数 (步长、周期等 ) ;第二层 ,用曲线拟合脚踝及质心在笛卡尔空间中的运动轨迹 ;第三层 ,用逆运动学方法求出人体模型在关节空间中的状态。控制中高层参数的调节可以生成同一种运动的不同运动姿态 ;同时 ,逆运动学方法的使用保证了运动的实时性。最后 ,文章给出了实验数据并指明下一步研究方向 The article discusses in detail the inverse kinematics method of human walking and running. The motion model is based on experimental data from multiple observations of the human gait experiment. The motion control is mainly divided into three levels: Firstly, the parameters needed to control the movement (step length, period, etc.) are determined according to the input parameters (velocity and gait); second, the curve is used to fit the movement of the ankle and the centroid in Cartesian space Track; The third layer, using inverse kinematics method to find the mannequin in the joint space state. Controlling the adjustment of middle and high-level parameters can generate different movement gestures of the same type of movement. Meanwhile, the use of inverse kinematics ensures the real-time performance of the movement. Finally, the article gives experimental data and indicates the direction of further research