Optimizing locomotion controllers using biologically-based actuators and objectives

@article{Wang2012OptimizingLC,
  title={Optimizing locomotion controllers using biologically-based actuators and objectives},
  author={Jack M. Wang and Samuel R. Hamner and Scott L. Delp and Vladlen Koltun},
  journal={ACM transactions on graphics},
  year={2012},
  volume={31 4}
}
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… CONTINUE READING

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