This paper presents a motion control algorithm for virtual human based on torque optimization. The algorithm is founded on the use of quaternion, recursive dynamics and optimal control.

本文以四元数、递归动力学和优化控制为基础，提出了一种基于力矩优化的虚拟人运动控制算法。

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Of the problems of optimal control, the most important two optimization methods are Pontryagin minimum(or called maximum) principle and Bellman dynamic programming.

在最优控制中，最重要的两种优化方法是庞特里亚金最小值（或称最大值） 原理和贝尔曼动态规划法。

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The optimization problem was formulated as a multiple-stage optimal control problem and solved by a forward and backward iteration loop.

整个最优化问题被描述成一个多阶段系统优化控制问题，通过一个向前和向后的迭代循环解决。

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