lass="comment">% Inertie</span>
0053         Human_model(i).I = [Ix 0 0; 0 Iy 0; 0 0 Iz]; <span class="comment">% - [Masse*Cy*Cy 0 0;0 0 0;0 0 Masse*Cy*Cy]; % on d�lace la matrice d'inertie en G</span>
0054     <span class="keyword">end</span>
0055 <span class="keyword">end</span>
0056 
0057 <span class="comment">%% Dynamique inverse</span>
0058 <span class="comment">%% Inverse dynamics</span>
0059 f6dof=zeros(3,nbframe);
0060 t6dof0=zeros(3,nbframe);
0061 t6dof=t6dof0;
0062 <span class="keyword">for</spa