Scalable physics-based modeling of skilled movement

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Humans and animals move through their world and interact with their environment in robust, graceful, and highly skilled ways. We do not yet know how to design realistic animated characters, biomechanical human simulations, and robots that can mimic this degree of skill. However, recent developments suggest that significant progess is being made towards mimicing human-like dexterity in simulations, or, in some cases, with robots. In this proposal, we use robust simulations of bipedal walking as a point of departure for developing richer movement skill sets, including highly agile walking and running, natural movement through urban environments, and dexterous hand manipulation. We target next generation of computer animation software as our primary application, but we expect that the same models will also be useful for understanding and correcting pathological gaits, the design of walking prostheses, obtaining a deeper understanding of human motor control, and creating more skillful robots.