le="function R = Rodrigues(a,q)">Rodrigues</a>(Human_model(j).u,Human_model(j).theta);         
0098             <span class="keyword">end</span>
0099        num_cut=num_cut+1; <span class="comment">% incr�mentation du num�ro de coupure</span>
0100     <span class="keyword">else</span>   
0101             <span class="keyword">if</span> Human_model(j).joint == 1    <span class="comment">% liaison pivot (pin joint)</span>
0102 <span class="comment">%         Human_model(j).p=Human_model(i).R*(k(i)*Human_