humanbody.m

本程序讲述了利用MANTLB对人体建模和仿真等相关内容

% This file contains and display nancy's articulated 
% humanoid body in anatomical static posture.
%
% Body segments can be accessed independently they are named with suffix: "_point",
% polygons are also independent with suffix: "_polygons".
% In addition, the variables "point" and "polygons" include the whole points
% and polygons respectively with the accumulative index in the case of polygons.
% After running the file, do a "whos" to see the actual names of body segments.
% see different display options at the end of the file.
%
% COPYRIGHT NOTICE:
%
% This collection of body segments and polygons was modified from an
% original VRML file by Cindy Ballreich ([e-mail]) copyright 1997 3Name3D.
%
% THIS Matlab version has the restriction by the original author (i.e. Cindy Ballreich) 
% of Noncommercial usage as long as original Copyright remains, and proper credit is given. 
% It will be better if you can include the logo: <www.ballreich.net/vrml/h-anim/small_logo.gif>.
% The original file in VRML was found at: http://www.ballreich.net/vrml/h-anim/nancy_h-anim.wrl
%
% This file can be located at:
% http://www.robots.ox.ac.uk/~wmayol/3D/nancy_matlab.html
%
% Matlab version by Ben Tordoff ([e-mail]) and Walterio Mayol ([e-mail])
% Robotics Research Group University of Oxford. 
% The main difference with the VRML version is that all polygons were manually converted to triangles.
%
% More information about h-anim humanoid specifications can be found at http://www.h-anim.org
%



%%%%%%%%%%%%%%%%%%%%%% Start point section %%%%%%%%%%%%%%%


% sacroiliac
sacroiliac_point=[ 0 1.06 0.0218;
        0.0561 1.07 0.00726;
        0.0851 1.07 -0.0115;
        0.104 1.07 -0.0497;
        0.0851 1.07 -0.0851;
        0.032 1.06 -0.0985;
        0.0873 1.04 0.0078;
        0.033 1.04 0.0395;
        0.123 1.05 -0.0405;
        0.0609 1.02 -0.106;
        0.0894 0.996 -0.106;
        0.143 1 -0.0309;
        0.117 1 0.0164;
        0.0314 0.999 0.0502;
        0.0314 0.96 -0.13;
        0.156 0.966 -0.0405;
        0.156 0.968 -0.00724;
        0.0341 0.954 0.0513;
        0.115 0.96 -0.0916;
        0.121 0.926 0.0352;
        0.0357 0.92 0.0497;
        0.0314 0.91 -0.146;
        0.0991 0.91 -0.131;
        0.169 0.883 -0.0448;
        0.169 0.885 -0.00939;
        0.123 0.873 0.0384;
        0.0926 0.872 0.047;
        0.0325 0.873 0.0287;
        0.0293 0.866 -0.142;
        0.102 0.869 -0.131;
        0.129 0.868 -0.103;
        0.0314 0.84 -0.125;
        0.101 0.844 -0.122;
        0.133 0.846 -0.0878;
        0.0653 0.835 0.0132;
        0.0615 0.824 -0.111;
        0.0985 0.823 -0.101;
        0.132 0.826 -0.0448;
        0.0609 0.821 -0.0158;
        0.0599 0.812 -0.0545;
        0 1.08 -0.0266;
        -0.0561 1.07 0.00726;
        -0.0851 1.07 -0.0115;
        -0.104 1.07 -0.0497;
        -0.0851 1.07 -0.0851;
        -0.032 1.06 -0.0985;
        -0.0873 1.04 0.0078;
        -0.033 1.04 0.0395;
        -0.123 1.05 -0.0405;
        -0.0609 1.02 -0.106;
        0 1.02 -0.108;
        -0.0894 0.996 -0.106;
        -0.143 1 -0.0309;
        -0.144 1 -0.011;
        -0.117 1 0.0164;
        -0.0314 0.999 0.0502;
        0 0.961 -0.123;
        -0.0314 0.96 -0.13;
        -0.156 0.966 -0.0405;
        -0.156 0.968 -0.00724;
        -0.0341 0.954 0.0513;
        -0.115 0.96 -0.0916;
        -0.121 0.926 0.0352;
        -0.0357 0.92 0.0497;
        0 0.91 -0.127;
        -0.0314 0.91 -0.146;
        -0.0991 0.91 -0.131;
        -0.167 0.911 -0.0448;
        -0.167 0.912 -0.00671;
        0 0.883 -0.129;
        -0.123 0.873 0.0384;
        -0.0926 0.872 0.047;
        -0.0325 0.873 0.0287;
        -0.0293 0.866 -0.142;
        -0.102 0.869 -0.131;
        -0.129 0.868 -0.103;
        -0.166 0.863 -0.0148;
        0 0.863 -0.00456;
        -0.166 0.862 -0.0459;
        0 0.858 -0.1;
        -0.0314 0.84 -0.125;
        -0.101 0.844 -0.122;
        -0.0653 0.835 0.0132;
        0 0.839 -0.0217;
        0 0.835 -0.0867;
        -0.0615 0.824 -0.111;
        -0.0985 0.823 -0.101;
        -0.132 0.826 -0.0448;
        -0.0609 0.821 -0.0158;
        0 0.831 -0.0626;
        -0.0599 0.812 -0.0545 ];
% l_hip_joint
l_hip_joint_point=[0.0969 0.804 -0.0486;
       0.101 0.876 0.0336;
       0.17 0.894 -0.00778;
       0.17 0.891 -0.076;
       0.124 0.858 -0.129;
       0.076 0.843 -0.143;
       0.025 0.819 -0.0889;
       0.0507 0.847 0.0196;
       0.00349 0.826 -0.0287;
       0.0991 0.808 0.0406;
       0.161 0.814 -0.00187;
       0.165 0.808 -0.0755;
       0.122 0.788 -0.126;
       0.00993 0.762 -0.0937;
       0.00993 0.762 -0.0309;
       0.0491 0.777 0.0185;
       0.0755 0.766 -0.139;
       0.13 0.597 -0.00618;
       0.132 0.6 -0.0593;
       0.108 0.603 -0.105;
       0.0722 0.601 -0.118;
       0.0314 0.59 -0.0953;
       0.0239 0.566 -0.0427;
       0.047 0.566 0.0051;
       0.0878 0.581 0.0217;
       0.114 0.499 -0.0132;
       0.116 0.488 -0.061;
       0.103 0.567 -0.0991;
       0.0362 0.557 -0.0926;
       0.025 0.486 -0.047;
       0.0507 0.497 -0.00188;
       0.0862 0.513 0.018;
       0.0733 0.579 -0.108 ];
% l_knee_joint
l_knee_joint_point=[0.0883 0.532 -0.00349;
       0.0609 0.533 -0.00833;
       0.0814 0.55 -0.0395;
       0.0529 0.536 -0.0368;
       0.0577 0.544 -0.0577;
       0.0722 0.546 -0.0717;
       0.0975 0.54 -0.0647;
       0.105 0.539 -0.0438;
       0.104 0.539 -0.0223;
       0.0862 0.506 0.0158;
       0.101 0.51 -0.0798;
       0.0706 0.51 -0.101;
       0.0406 0.513 -0.0744;
       0.0368 0.51 -0.0357;
       0.0556 0.506 -0.000272;
       0.117 0.508 -0.0169;
       0.0878 0.361 -0.0126;
       0.123 0.363 -0.04;
       0.123 0.363 -0.0663;
       0.107 0.367 -0.107;
       0.0588 0.365 -0.122;
       0.0228 0.358 -0.0926;
       0.0239 0.358 -0.0475;
       0.0497 0.358 -0.0234;
       0.118 0.311 -0.0411;
       0.118 0.309 -0.0685;
       0.105 0.31 -0.108;
       0.0572 0.308 -0.123;
       0.0201 0.309 -0.0937;
       0.0191 0.311 -0.0508;
       0.0475 0.307 -0.0282;
       0.0883 0.309 -0.018;
       0.0959 0.124 -0.04;
       0.0905 0.12 -0.0647;
       0.0738 0.117 -0.0814;
       0.0373 0.121 -0.0636;
       0.0416 0.124 -0.0416;
       0.0744 0.13 -0.0212;
       0.0561 0.13 -0.0245;
       0.0529 0.121 -0.0873;
       0.0948 0.0897 -0.0368;
       0.0916 0.0779 -0.0604;
       0.0717 0.0854 -0.0765;
       0.0406 0.0918 -0.0626;
       0.0384 0.0881 -0.0363;
       0.054 0.0972 -0.0175;
       0.0765 0.11 -0.0169;
       0.0486 0.0999 -0.0835 ];
% l_ankle_joint
l_ankle_joint_point=[0.0529 0 -0.0923;
       0.0863 0 -0.0862;
       0.0727 0 -0.0994;
       0.0863 0.0219 -0.0862;
       0.0727 0.0219 -0.0994;
       0.1 0 -0.0594;
       0.1 0.0219 -0.0594;
       0.113 0 0.0645;
       0.113 0.0219 0.0645;
       0.112 0 0.117;
       0.112 0.0156 0.117;
       0.0701 0 0.146;
       0.0701 0.0156 0.146;
       0.0468 0 0.153;
       0.0468 0.0156 0.153;
       0.0215 0 0.146;
       0.0215 0.0156 0.146;
       0.0165 0 0.125;
       0.0165 0.0156 0.125;
       0.0211 0 0.0377;
       0.0211 0.0219 0.0377;
       0.0393 0 -0.0129;
       0.0393 0.0219 -0.0129;
       0.0433 0 -0.0534;
       0.0433 0.0219 -0.0534;
       0.0529 0.0219 -0.0923;
       0.0305 0.0253 0.0938;
       0.0505 0.0253 0.099;
       0.0854 0.0253 0.0834;
       0.102 0.0253 0.0707;
       0.0568 0.0573 -0.0918;
       0.0492 0.0573 -0.0497;
       0.0435 0.0573 -0.0225;
       0.0442 0.0573 0.0235;
       0.0623 0.0573 0.0366;
       0.0911 0.0573 0.0159;
       0.0962 0.0573 -0.0121;
       0.0911 0.0573 -0.0482;
       0.0758 0.0573 -0.0899;
       0.0676 0.0573 -0.0962;
       0.0578 0.0953 -0.0896;
       0.0489 0.0953 -0.0757;
       0.0447 0.0953 -0.0432;
       0.0451 0.0953 -0.0128;
       0.0624 0.0953 -0.00466;
       0.0857 0.0953 -0.0134;
       0.0953 0.0953 -0.038;
       0.0843 0.0953 -0.0803;
       0.0761 0.0953 -0.0889;
       0.0682 0.0953 -0.0929;
       0.0675 0.13 -0.0608 ];
% r_hip_joint
r_hip_joint_point=[-0.0969 0.804 -0.0486;
       -0.101 0.876 0.0336;
       -0.17 0.894 -0.00778;
       -0.17 0.891 -0.076;
       -0.124 0.858 -0.129;
       -0.076 0.843 -0.143;
       -0.025 0.819 -0.0889;
       -0.0507 0.847 0.0196;
       -0.00349 0.826 -0.0287;
       -0.0991 0.808 0.0406;
       -0.161 0.814 -0.00187;
       -0.165 0.808 -0.0755;
       -0.122 0.788 -0.126;
       -0.00993 0.762 -0.0937;
       -0.00993 0.762 -0.0309;
       -0.0491 0.777 0.0185;
       -0.0755 0.766 -0.139;
       -0.13 0.597 -0.00618;
       -0.132 0.6 -0.0593;
       -0.108 0.603 -0.105;
       -0.0722 0.601 -0.118;
       -0.0314 0.59 -0.0953;
       -0.0239 0.566 -0.0427;
       -0.047 0.566 0.0051;
       -0.0878 0.581 0.0217;
       -0.114 0.499 -0.0132;
       -0.116 0.488 -0.061;
       -0.103 0.567 -0.0991;
       -0.0362 0.557 -0.0926;
       -0.025 0.486 -0.047;
       -0.0507 0.497 ...
       -0.00188;
       -0.0862 0.513 0.018 ];
% r_knee_joint
r_knee_joint_point=[-0.123 0.363 -0.0663;
       -0.123 0.363 -0.04;
       -0.118 0.309 -0.0685;
       -0.118 0.311 -0.0411;
       -0.117 0.508 -0.0169;
       -0.107 0.367 -0.107;
       -0.105 0.539 -0.0438;
       -0.105 0.31 -0.108;
       -0.104 0.539 -0.0223;
       -0.101 0.51 -0.0798;
       -0.0975 0.54 -0.0647;
       -0.0948 0.0897 -0.0368;
       -0.0916 0.0779 -0.0604;
       -0.0905 0.12 -0.0647;
       -0.0883 0.532 -0.00349;
       -0.0883 0.309 -0.018;
       -0.0878 0.361 -0.0126;
       -0.0862 0.506 0.0158;
       -0.0814 0.55 -0.0395;
       -0.0765 0.11 -0.0169;
       -0.0744 0.13 -0.0212;
       -0.0738 0.117 -0.0814;
       -0.0722 0.546 -0.0717;
       -0.0717 0.0854 -0.0765;
       -0.0706 0.51 -0.101;
       -0.0609 0.533 -0.00833;
       -0.0588 0.365 -0.122;
       -0.0577 0.544 -0.0577;
       -0.0572 0.308 -0.123;
       -0.0561 0.13 -0.0245;
       -0.0556 0.506 -0.000272;
       -0.054 0.0972 -0.0175;
       -0.0529 0.536 -0.0368;
       -0.0529 0.121 -0.0873;
       -0.0497 0.358 -0.0234;
       -0.0486 0.0999 -0.0835;
       -0.0475 0.307 -0.0282;
       -0.0416 0.124 -0.0416;
       -0.0406 0.0918 -0.0626;
       -0.0406 0.513 -0.0744;
       -0.0384 0.0881 -0.0363;
       -0.0373 0.121 -0.0636;
       -0.0368 0.51 -0.0357;
       -0.0239 0.358 -0.0475;
       -0.0228 0.358 -0.0926;
       -0.0201 0.309 -0.0937;
       -0.0191 0.311 -0.0508;
       -0.0985 0.125 -0.0375 ];
% r_ankle_joint
r_ankle_joint_point=[-0.0727 0 -0.0994;
       -0.1 0 -0.0594;
       -0.0701 0 0.146;
       -0.0468 0 0.153;
       -0.0215 0 0.146;
       -0.0433 0 -0.0534;
       -0.0529 0 -0.0923;
       -0.0727 0.0219 -0.0994;
       -0.0863 0.0219 -0.0862;
       -0.1 0.0219 -0.0594;
       -0.108 0.0219 -0.00479;
       -0.112 0.0156 0.117;
       -0.0701 0.0156 0.146;
       -0.0468 0.0156 0.153;
       -0.0215 0.0156 0.146;
       -0.0165 0.017 0.0777;
       -0.0433 0.0219 -0.0534;
       -0.0529 0.0219 -0.0923;
       -0.0445 0.0273 -0.0189;
       -0.0265 0.0253 0.0549;                           
       -0.0305 0.0253 0.0938;
       -0.069 0.0253 0.0938;
       -0.102 0.0253 0.0707;
       -0.0568 0.0573 -0.0918;
       -0.0492 0.0573 -0.0497;
       -0.0424 0.0573 -0.00142;
       -0.0478 0.0573 0.0341;
       -0.0623 0.0573 0.0366;                           
       -0.0864 0.0573 0.0245;
       -0.0962 0.0573 -0.0121;
       -0.0845 0.0573 -0.0764;
       -0.0758 0.0573 -0.0899;                          
       -0.0676 0.0573 -0.0962;
       -0.0578 0.0953 -0.0896;
       -0.0489 0.0953 -0.0757;
       -0.0459 0.0953 -0.0615;
       -0.0435 0.0953 -0.0292;
       -0.0485 0.0953 -0.00582;
       -0.0624 0.0953 -0.00466;
       -0.0857 0.0953 -0.0134;
       -0.0953 0.0953 -0.038;
       -0.0843 0.0953 -0.0803;
       -0.0761 0.0953 -0.0889;
       -0.0682 0.0953 -0.0929;                          
       -0.0675 0.13 -0.0608;
       -0.0165 0 0.125;
       -0.112 0 0.117;
       -0.0165 0 0.0777;
       -0.0393 0 -0.0129;
       -0.108 0 -0.00479;
       -0.0863 0 -0.0862];
% torso
torso_point=[0.043 1.25 0.0614;
       0.101 1.25 0.0614;
       0.103 1.31 0.0195;
       0.021 1.32 0.0276;
       0.0572 1.27 -0.153;
       0.0524 1.15 -0.134;
       0 1.19 -0.14;
       0 1.26 -0.147;
       -0.0572 1.27 -0.153;
       -0.0228 1.18 -0.14;
       -0.0524 1.15 -0.134;
       0 1.13 -0.126;
       -0.0228 1.13 -0.124;
       0 1.31 -0.146;
       -0.0545 1.35 -0.138;
       0 1.35 -0.136;
       -0.0593 1.3 -0.151;
       0.0593 1.3 -0.151;
       0.0545 1.35 -0.138;
       -0.0255 1.3 -0.146;
       0.0975 1.26 -0.15;
       0.1 1.3 -0.148;
       -0.1 1.3 -0.148;
       -0.0975 1.26 -0.15;
       -0.117 1.41 -0.0395;
       -0.0674 1.45 -0.0314;
       -0.0926 1.41 -0.0937;
       -0.124 1.4 -0.0706;
       -0.0583 1.44 -0.0615;
       -0.0228 1.46 -0.0872;
       -0.0534 1.42 -0.112;
       -0.0228 1.42 0.00351;
       -0.0593 1.43 -0.0185;
       -0.0787 1.39 -0.00293;
       -0.112 1.4 -0.0131;
       -0.164 1.39 -0.0373;
       -0.0153 1.39 0.0159;
       -0.0953 1.35 -0.136;
       -0.0545 1.35 -0.138;
       -0.139 1.34 0.00297;
       -0.137 1.34 -0.0368;
       0 1.35 -0.136;
       -0.156 1.35 -0.0915;
       -0.132 1.29 -0.127;
       -0.1 1.3 -0.148;
       -0.0418 1.35 0.0168;
       -0.013 1.37 0.0167;
       -0.151 1.28 -0.0878;
       -0.136 1.32 -0.0406;
       -0.124 1.26 -0.125;
       -0.0975 1.26 -0.15;
       0.00228 1.37 0.0167;
       -0.00959 1.32 0.0276;
       -0.0918 1.31 0.0195;
       -0.141 1.25 -0.0744;
       -0.0316 1.25 0.0614;
       -0.00261 1.25 0.0458;
       -0.0611 1.25 0.0668;
       -0.0896 1.25 0.0614;
       -0.126 1.24 0.012;
       -0.126 1.22 0.0141;
       -0.129 1.17 -0.0523;
       -0.115 1.16 -0.105;
       -0.0851 1.18 -0.134;
       -0.0524 1.15 -0.134;
       -0.083 1.13 -0.122;
       -0.117 1.15 -0.018;
       -0.11 1.1 -0.0846;