A complete three-dimensional model of the human body representative of human walking on a flat surface was developed using optimization techniques and inverse dynamics. The optimization was guided by biomechanical constraints and conditioned to energy minimization during a gait cycle. The results show that this model adequately predicts the kinematics and kinetics of human gait in the sagittal, coronal and frontal planes. In addition, the ground reaction forces, and associated centers of pressure are like those reported in other investigations. The results suggest that the solution with the lowest energy consumption represents the most natural gait, which corroborates the hypothesis of energy minimization as a goal in biological processes, including human gait. The loads simulated by this model have the potential to be applicable in dynamic analysis of structures with high susceptibility to vibrations due to the influence and concurrence of anthropic loads, as is the case of bridges, grandstands and slabs.