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---+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 Main.PhilippeBeaudoin under the supervision of Main.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
   * [[BiomechanicalBipedsToDo][Project To Do List]]
   * [[BiomechanicalBipedsResults][Project Results]]

---++Discussion


-- Main.PhilippeBeaudoin - 04 Feb 2009
Topic revision: r2 - 2009-02-04 - PhilippeBeaudoin
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