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2012

Optimizing locomotion controllers using biologically-based actuators and objectives

8 years 2 months ago
Optimizing locomotion controllers using biologically-based actuators and objectives
We present a technique for automatically synthesizing walking and running controllers for physically-simulated 3D humanoid characters. The sagittal hip, knee, and ankle degrees-of-freedom are actuated using a set of eight Hill-type musculotendon models in each leg, with biologically-motivated control laws. The parameters of these control laws are set by an optimization procedure that satisfies a number of locomotion task terms while minimizing a biological model of metabolic energy expenditure. We show that the use of biologically-based actuators and objectives measurably increases the realism of gaits generated by locomotion controllers that operate without the use of motion capture data, and that metabolic energy expenditure provides a simple and unifying measurement of effort that can be used for both walking and running control optimization. CR Categories: I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism—Animation;
Jack M. Wang, Samuel R. Hamner, Scott L. Delp, Vla
Added 28 Sep 2012
Updated 28 Sep 2012
Type Journal
Year 2012
Where TOG
Authors Jack M. Wang, Samuel R. Hamner, Scott L. Delp, Vladlen Koltun
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