Optimizing Locomotion Controllers Using Biologically-Based Actuators and Objectives
Optimizing Locomotion Controllers Using Biologically-Based Actuators and Objectives
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DOI：
10.1145/2185520.2185521
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发表时间：
2012-07-01
影响因子：
6.2
通讯作者：
Koltun, Vladlen
中科院分区：
文献类型：
--
作者：
Wang, Jack M.;Hamner, Samuel R.;Koltun, Vladlen
我们提出了一种自动合成行走和跑步控制器的技术，用于物理模拟的3D人形角色。矢状面的髋关节、膝关节和脚踝的自由度是由每条腿上的8个Hill类型的肌腱模型驱动的，具有生物激励的控制律。这些控制律的参数是通过优化过程来设置的，该优化过程满足多个运动任务项，同时最小化代谢能量消耗的生物模型。我们表明，基于生物的致动器和目标的使用显著增加了不使用运动捕捉数据的运动控制器产生的步态的真实性，并且代谢能量消耗提供了一种简单且统一的努力测量，可用于步行和跑步控制优化。
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.