Methods of forming a numerical control program for a machine tool, computer animation, animal training, human skill development, robot programming and sport motion development.;The methods involve constructing a human/animal body model, applying actual human/animal movements to it and analysing the input movements using inverse dynamics. Further desired movements are then calculated using dynamics on the various segments of the body independently of one another, then applying known constraints governing the actual possible motion of each segment, and then analysing the corrected motion again using inverse dynamics.
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