To extend the 2-D bicycle model to three dimensions and eventually do away with the old, hard-coded 2-D model.
	To initiate the development of a general leg model that can serve other purposes as well.
	To test the use of muscle wrapping and serve as an example of a paper on that subject.

The animation clearly shows how the gluteus maximus is wrapping over a set of lines that create a near-cylindrical surface. The knee, however, is more interesting. The quadriceps tendon wraps over a single line at the knee, but the line moves with the knee and produces a moment arm for the quadriceps that approximates the moment arm created by the complex kinematics of a real knee.