File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Article: Optimizing locomotion controllers using biologically-based actuators and objectives

TitleOptimizing locomotion controllers using biologically-based actuators and objectives
Authors
Issue Date2012
Citation
ACM Transactions on Graphics, 2012, v. 31 n. 4 How to Cite?
AbstractWe 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. © 2012 ACM 0730-0301/2012/08-ART25.
Persistent Identifierhttp://hdl.handle.net/10722/192723
ISSN
2015 Impact Factor: 4.218
2015 SCImago Journal Rankings: 2.552
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorWang, JMen_US
dc.contributor.authorHamner, SRen_US
dc.contributor.authorDelp, SLen_US
dc.contributor.authorKoltun, Ven_US
dc.date.accessioned2013-11-20T04:59:04Z-
dc.date.available2013-11-20T04:59:04Z-
dc.date.issued2012en_US
dc.identifier.citationACM Transactions on Graphics, 2012, v. 31 n. 4en_US
dc.identifier.issn0730-0301en_US
dc.identifier.urihttp://hdl.handle.net/10722/192723-
dc.description.abstractWe 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. © 2012 ACM 0730-0301/2012/08-ART25.en_US
dc.languageengen_US
dc.relation.ispartofACM Transactions on Graphicsen_US
dc.titleOptimizing locomotion controllers using biologically-based actuators and objectivesen_US
dc.typeArticleen_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.doi10.1145/2185520.2185521en_US
dc.identifier.scopuseid_2-s2.0-84866752761en_US
dc.identifier.volume31en_US
dc.identifier.issue4en_US
dc.identifier.isiWOS:000308250300001-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats