Real-time Control of Walking for Biomechanical Models of Bipeds, TODO List

Research TODO

• [DONE] Read Simulation of Walking http://nmbl.stanford.edu/publications/pdf/Anderson2006.pdf Comments
• [DONE] Read OpenSim http://nmbl.stanford.edu/publications/pdf/Delp2007.pdf Comments
• [DONE] Discuss with Stelian of his implementation
• [DONE] Install AnyBody
• Follow Anybody tutorial, read documentation on http://www.anybodytech.com/, learn more on the project on http://www.anybody.aau.dk/
• Obtain Stelian implementation
• Find out exactly what is meant by dynamic optimization in SimulationOfWalkingComments
• Decide on a simple muscle model to implement first
• Understand the various concepts used in the muscle model of SimulationOfWalkingComments
• Read citations 93, 95 (faster simulations) and 39, 61, 92, 94 (reflex/feedback models) in SimulationOfWalkingComments
• Install SimTK, read documentation on https://simtk.org
• Read more on Hill-based muscle model
• Think of various ways to transform torque into muscle activations
  • Linearize torque-to-activation function at every time step
  • Use standard torque-based Simbicon to converge to limit cycle, then linearize torque-to-activation function around this

Development TODO

• Get a forward-simulation of a balancing simbicon character with a muscle-activated knee
• Discover muscle activation patterns and feedback gains from existing simbicon controllers

Forward simulation of simple muscles

• [DONE] Rough object-oriented design
• Implement muscle attachment class
• Implement muscle class
• Implement Hill-based muscle class
• Implement specification of forward muscle activation curves
• Integrate muscle classes with simbicon simulation

Discovery of muscle activation patterns

• Decide on an approach
• Rough object-oriented design