<jupyter_start><jupyter_text>In this tutorial we are going to make a simple model of a human (or humaniod robot) that is capable of balancing on its own. We will make several assumptions:- The human's motion is limited to a 2D plane (i.e. leaning backwards and forwards).- We only have three degrees of freedom: rotation at the ankle, knee, and hip.- The two legs do not move independently, but as one body (i.e. left and right thigh are one rigid body).- The forces generated by the muscles will be modeled as ideal torques between the adjacent body segments.The following diagram shows the model and all of the parameters.<jupyter_code>from IPython.display import Image
Image('figures/human_balance_diagram.png')<jupyter_output><empty_output>
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