Journal
ACM TRANSACTIONS ON GRAPHICS
Volume 31, Issue 4, Pages -Publisher
ASSOC COMPUTING MACHINERY
DOI: 10.1145/2185520.2185521
Keywords
physics-based character animation; biomechanics; musculoskeletal simulation
Categories
Funding
- NSF [IIS-1017938, CNS-0619926]
- NIH [U54 GM072970, R24 HD065690, R01 HD033929]
- AWS research grant
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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. 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.
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