Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이윤상 | - |
dc.date.accessioned | 2018-03-23T07:56:03Z | - |
dc.date.available | 2018-03-23T07:56:03Z | - |
dc.date.issued | 2014-11 | - |
dc.identifier.citation | ACM TRANSACTIONS ON GRAPHICS, 권: 33, 호: 6 | en_US |
dc.identifier.issn | 0730-0301 | - |
dc.identifier.issn | 1557-7368 | - |
dc.identifier.uri | https://dl.acm.org/citation.cfm?id=2661233 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11754/51572 | - |
dc.description.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. | en_US |
dc.description.sponsorship | We thank to the reviewers for their helpful feedback. This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (No. 2011-0018340) and Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (MSIP) (No. 2007-0056094). | en_US |
dc.language.iso | en | en_US |
dc.publisher | ASSOC COMPUTING MACHINERY, 2 PENN PLAZA, STE 701, NEW YORK, NY 10121-0701 USA | en_US |
dc.subject | Bipedal Locomotion | en_US |
dc.subject | Musculoskeletal System | en_US |
dc.subject | Physically Based Simulation | en_US |
dc.title | Locomotion Control for Many-Muscle Humanoids | en_US |
dc.type | Article | en_US |
dc.relation.journal | ACM TRANSACTIONS ON GRAPHICS | - |
dc.contributor.googleauthor | Lee, Yoon-sang | - |
dc.contributor.googleauthor | Park, Moon-Seok | - |
dc.contributor.googleauthor | Kwon, Tae-soo | - |
dc.contributor.googleauthor | Lee, Je-hee | - |
dc.relation.code | 2014023955 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DEPARTMENT OF COMPUTER SCIENCE | - |
dc.identifier.pid | yoonsanglee | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.