Flexible Muscle-Based Locomotion for Bipedal Creatures

被引：191

作者：

Geijtenbeek, Thomas ^{[1
]}

van de Panne, Michiel ^{[2
]}

van der Stappen, A. Frank ^{[1
]}

机构：

[1] Univ Utrecht, NL-3508 TC Utrecht, Netherlands

[2] Univ British Columbia, Vancouver, BC V5Z 1M9, Canada

来源：

ACM TRANSACTIONS ON GRAPHICS | 2013年 / 32卷 / 06期

基金：

加拿大自然科学与工程研究理事会;

关键词：

physics-based animation; musculoskeletal simulation; SIMULATION; WALKING; PHYSICS; OPTIMIZATION; FEEDBACK; DRIVEN; MODEL; GAIT;

D O I：

10.1145/2508363.2508399

中图分类号：

TP31 [计算机软件];

学科分类号：

081202 ; 0835 ;

摘要：

We present a muscle-based control method for simulated bipeds in which both the muscle routing and control parameters are optimized. This yields a generic locomotion control method that supports a variety of bipedal creatures. All actuation forces are the result of 3D simulated muscles, and a model of neural delay is included for all feedback paths. As a result, our controllers generate torque patterns that incorporate biomechanical constraints. The synthesized controllers find different gaits based on target speed, can cope with uneven terrain and external perturbations, and can steer to target directions.

引用

页数：11

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