Difference: BiomechanicalBipeds (7 vs. 8)

Revision 82009-03-17 - PhilippeBeaudoin

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META TOPICPARENT	name="CharacterAnimationHome"

Real-time Control of Walking for Biomechanical Models of Bipeds

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Rachel Weinstein, Eran Guendelman, and Ron Fedkiw. Impulse Based Control of Joints and Muscles. TVCG 2006. http://physbam.stanford.edu/~fedkiw/papers/stanford2006-08.pdf
Winnie Tsang, Karan Singh, Eugene Fiume. Helping Hand: An Anatomically Accurate Inverse Dynamics Solution For Unconstrained Hand Motion. SCA 2005. http://www.dgp.toronto.edu/~karan/pdf/HandPaper_SCA.pdf
Sung-Hee Lee, Demetri Terzopoulos. Heads up!: biomechanical modeling and neuromuscular control of the neck, SIGGRAPH 2006. http://www.cs.ucla.edu/~sunghee/research/neck/siggraph06.pdf

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Helping Hand: An anatomically accurate inverse dynamics solution for unconstrained hand motion, SCA 2005
Automatic Determination of Facial Muscle Activations from Sparse Motion Capture Marker Data", SIGGRAPH 2005, ACM TOG 24, 417-425 (2005).
Heads up!: biomechanical modeling and neuromuscular control of the neck SH Lee, D Terzopoulos - Proceedings of ACM SIGGRAPH 2006, 2006 - portal.acm.org
Impulse-based control of joints and muscles R Weinstein, E Guendelman, R Fedkiw - IEEE Transactions on Visualization and Computer Graphics, 2008 -ieeexplore.ieee.org

Links

Project To Do List

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Also note that the "character state" is higher dimensional here than in torque-based Simbicon. This is because muscles are generally modeled as dynamical systems (using an ODE), so the "past state" of the muscle has an influence on the activation-->force function. Linearizing around steady-state eschew this problem, but it can appear again during perturbations. Can we build a simple model of the force-->activation function? Then we still have the problem of torque-->force, but this requires a lower-dimensional character state (only angles? or angular velocities too?).

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Clean-up the following, Michiel's email I think that it may ultimately be interesting to apply the feedback error learning ideas to the muscles. The cool thing is that you could keep the feedback controller based upon regular PD controllers, while gradually training a muscle-based feedforward term. I'm still not sure what to do about antagonistic muscles. But the above scheme would not yet use muscles to achieve feedback-based corrections. Just an idea. Maybe it is still better to first get a full muscle-based solution going for one of the joints.

-- PhilippeBeaudoin - 04 Feb 2009

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