Real-time Control of Walking for Biomechanical Models of Bipeds

This page presents the project Real-time Control of Walking for Biomechanical Models of Bipeds led by PhilippeBeaudoin under the supervision of MichielVanDePanne.

Description

Human motion can be modeled kinematically or dynamically. Dynamic models potentially offer the deepest understanding of human motion given that they model the forces and torques that give rise to the motion. Dynamic biomechanical models further detail by modeling the motion in terms of muscle activations which drive muscles connected to tendons and bones [1,2]. An understanding of how activities such as robust control of walking can be achieved with musculotendon models is a significant step in enabling patients with a variety of neuro-motor deficits to possibly walk again [3]. With the recent development of robust strategies for physically-simulated walking with torque-based actuators [4], it should now be feasible to develop similar control strategies for musculo-tendon based models. While the joint-specific feedback-error learning approach of [4] needs to be replaced by a muscle-specific approach, the recent work of [5] provide a very promising path to addressing exactly this problem. Models of reaction delays and tripping reflexes can also be added. This would be the first real-time, closed-loop biomechanical simulation of walking of its kind.

References

• [1] "Musculotendon Simulation for Hand Animation", SIGGRAPH 2008
• [2] "Simulation of Walking", 2006 http://nmbl.stanford.edu/publications/pdf/Anderson2006.pdf
• [3] "Optimal Patterns Synthesis Approach for Knee Motion under Functional Electrical Stimulation" http://hal-lirmm.ccsd.cnrs.fr/lirmm-00193720/en/
• [4] "SIMBICON: Simple Biped Locomotion Control", SIGGRAPH 2007 http://www.cs.ubc.ca/~van/papers/Simbicon.htm
• [5] "Recurrent Cerebellar Loops Simplify Adaptive Control of Redundant and Nonlinear Motor Systems", Neural Computation, 2006
• [6] Regina Nuzzo. Computational Biomechanics: Making Strides Toward Patient Care. Biomedical Computation Review 2006. http://biomedicalcomputationreview.org/3/1/3.pdf
• [7] Delp, S.L., Anderson, F.C., Arnold, A.S., Loan, P., Habib, A., John, C.T., Guendelman, E., Thelan, D.G. OpenSim: Open-source software to create and analyze dynamic simulations of movement. IEEE Transactions on Biomedical Engineering , vol 55, pp 1940-1950, 2007. http://nmbl.stanford.edu/publications/pdf/Delp2007.pdf
• [8] 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

Links

• Project To Do List
• Project Results

Discussion

-- PhilippeBeaudoin - 04 Feb 2009