BiomechanicalBipedsToDo < Imager

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---+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]] [[SimulationOfWalkingComments][Comments]]
   * *[DONE]* Read OpenSim [[http://nmbl.stanford.edu/publications/pdf/Delp2007.pdf]] [[OpenSimComments][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
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Topic revision: r7 - 2009-03-13 - PhilippeBeaudoin