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Locomotion Control for Many-Muscle Humanoids

Title
Locomotion Control for Many-Muscle Humanoids
Author
이윤상
Keywords
Bipedal Locomotion; Musculoskeletal System; Physically Based Simulation
Issue Date
2014-11
Publisher
ASSOC COMPUTING MACHINERY, 2 PENN PLAZA, STE 701, NEW YORK, NY 10121-0701 USA
Citation
ACM TRANSACTIONS ON GRAPHICS, 권: 33, 호: 6
Abstract
We present a biped locomotion controller for humanoid models actuated by more than a hundred Hill-type muscles. The key component of the controller is our novel algorithm that can cope with step-based biped locomotion balancing and the coordination of many nonlinear Hill-type muscles simultaneously. Minimum effort muscle activations are calculated based on muscle contraction dynamics and online quadratic programming. Our controller can faithfully reproduce a variety of realistic biped gaits (e.g., normal walk, quick steps, and fast run) and adapt the gaits to varying conditions (e.g., muscle weakness, tightness, joint dislocation, and external pushes) and goals (e.g., pain reduction and efficiency maximization). We demonstrate the robustness and versatility of our controller with examples that can only be achieved using highly-detailed musculoskeletal models with many muscles.
URI
https://dl.acm.org/citation.cfm?id=2661233http://hdl.handle.net/20.500.11754/51572
ISSN
0730-0301; 1557-7368
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > COMPUTER SCIENCE(컴퓨터소프트웨어학부) > Articles
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