Physical simulation of realistic skeleton

[uric]

I'm looking for a sample or tutorial regarding creating a realistic skeleton simulation of human-like body with two legs. That is, at least "a body" made of round mass on top of two "legs":
- Each leg is made of 3 solid pieces connected through 3 joints
- Each joint have ~2 degrees of freedom and a limited movement range in each direction
- The hip joint should connect the upper leg to the body and allow it to move from an upright position both forward and sideway, with at least 2 degrees of freedom;
- The Knee joint should connect the upper to the lower leg and allow a single degree of freedom;
- The Ankle joint should connect the lower leg to a foot and allow some the foot to move upto some angle in all directions.

I aim for a realistic model, and hence it will 'stand' only if all joints are balanced correctly and it will fall otherwise.
Any directions? This looks like an awful lot of work doing from scratch...

Thanks!

[XMight]

This is a master degree work, or maybe PhD (if to add something new)? )

Anyway, I don't think you'll find something like that, you'll need to write it from scratch...


P.S. You can start with Ragdoll Bullet project