Scalable physics-based modeling of skilled movement

人类和动物在他们的世界中移动，并以健壮、优雅和高度熟练的方式与他们的环境互动。我们还不知道如何设计逼真的动画人物，生物力学的人体模拟，以及能够模仿这种程度技能的机器人。然而，最近的发展表明，在模拟中，或者在某些情况下，机器人在模仿人类灵巧性方面取得了重大进展。在这个建议中，我们使用稳健的两足行走模拟作为发展更丰富的运动技能的起点，包括高度敏捷的行走和跑步，在城市环境中的自然运动，以及灵巧的手部操作。我们的目标是下一代计算机动画软件作为我们的主要应用，但我们期望相同的模型也将有助于理解和纠正病态步态，步行假肢的设计，获得对人类运动控制的更深入的理解，并创造更熟练的机器人。

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.