Optimizing locomotion controllers using biologically-based actuators and objectives

We present a technique for automatically synthesizing walking and running controllers for physically-simulated 3D humanoid characters. The sagittal hip, knee, and ankle degrees-of-freedom are actuated using a set of eight Hill-type musculotendon models in each leg, with biologically-motivated control laws. The parameters of these control laws are set by an optimization procedure that satisfies a number of locomotion task terms while minimizing a biological model of metabolic energy expenditure. We show that the use of biologically-based actuators and objectives measurably increases the realism of gaits generated by locomotion controllers that operate without the use of motion capture data, and that metabolic energy expenditure provides a simple and unifying measurement of effort that can be used for both walking and running control optimization. CR Categories: I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism—Animation;

• Type: Journal
• Year: 2012
• Where: TOG
• Authors: Jack M. Wang, Samuel R. Hamner, Scott L. Delp, Vladlen Koltun
• Keywords: Communications, CR Categories, Optimization Procedure, Three Dimensional Graphics, TOG 2012