Locomotion Control for Many-Muscle Humanoids
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Yoonsang | - |
dc.contributor.author | Park, Moon Seok | - |
dc.contributor.author | Kwon, Taesoo | - |
dc.contributor.author | Lee, Jehee | - |
dc.date.accessioned | 2022-07-16T02:02:18Z | - |
dc.date.available | 2022-07-16T02:02:18Z | - |
dc.date.created | 2021-05-12 | - |
dc.date.issued | 2014-11 | - |
dc.identifier.issn | 0730-0301 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/158704 | - |
dc.description.abstract | We present a biped locomotion controller for humanoid models actuated by more than a hundred Hill-type muscles. The key component of the controller is our novel algorithm that can cope with step-based biped locomotion balancing and the coordination of many nonlinear Hill-type muscles simultaneously. Minimum effort muscle activations are calculated based on muscle contraction dynamics and online quadratic programming. Our controller can faithfully reproduce a variety of realistic biped gaits (e.g., normal walk, quick steps, and fast run) and adapt the gaits to varying conditions (e.g., muscle weakness, tightness, joint dislocation, and external pushes) and goals (e.g., pain reduction and efficiency maximization). We demonstrate the robustness and versatility of our controller with examples that can only be achieved using highly-detailed musculoskeletal models with many muscles. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | ASSOC COMPUTING MACHINERY | - |
dc.title | Locomotion Control for Many-Muscle Humanoids | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Lee, Yoonsang | - |
dc.contributor.affiliatedAuthor | Kwon, Taesoo | - |
dc.identifier.doi | 10.1145/2661229.2661233 | - |
dc.identifier.scopusid | 2-s2.0-84914689097 | - |
dc.identifier.wosid | 000345855600047 | - |
dc.identifier.bibliographicCitation | ACM TRANSACTIONS ON GRAPHICS, v.33, no.6, pp.1 - 11 | - |
dc.relation.isPartOf | ACM TRANSACTIONS ON GRAPHICS | - |
dc.citation.title | ACM TRANSACTIONS ON GRAPHICS | - |
dc.citation.volume | 33 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 1 | - |
dc.citation.endPage | 11 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Software Engineering | - |
dc.subject.keywordPlus | DYNAMIC SIMULATIONS | - |
dc.subject.keywordPlus | OPTIMIZATION | - |
dc.subject.keywordAuthor | Bipedal Locomotion | - |
dc.subject.keywordAuthor | Musculoskeletal System | - |
dc.subject.keywordAuthor | Physically Based Simulation | - |
dc.identifier.url | https://dl.acm.org/doi/10.1145/2661229.2661233 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.