This model of squatting is created as an example of simple posture prediction using "soft kinematics"; no measured motion is entered. The motion is assumed to be slow, so balancing is the major posture criterion. Perfect balancing requires center of mass (CoM) to be ideally centered between the feet and a soft driver ensures this. A conditional limit (new functionality in AnyBody 6.1 beta) on the ankle's range of motion stops the flexion and drives the CoM away from the ideal position, or requires the heel to lift away from the ground; both strategies are being tested. Additional, soft constraint model "the wish" of being as upright as possible, etc.
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