progress report yoonsang lee, movement research lab., seoul national university
Post on 27-Dec-2015
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Progress Report
Yoonsang Lee,Movement Research Lab.,Seoul National University
Previous Result
Today
• Tracking simulation
human model
reference trajectory
compute muscle ac-tivation
forward dynamics simulation
Reference Motion
Test Model
• Modified version of “BothLegs“ model
• 21 dof• 93 muscles
BothLegs
Simulation (with fixed pelvis)
0.2x speed
Muscle-level PD control
• Use difference between length infor-mation of each muscle
reference motion (t=0.884s) simulation (t=0.884s)
Muscle-level PD control
• , of reference motion are kinematically determined
• We can get , from simulation state
Simulation with Contact
0.2x Speed
Discussion
• Excitation & activation• Agonist / antagonist• Feedforward term• Computation time
Next
• Try more simple model (gait2354)• Motion data generation– bvh -> mot
• More stable tracking
Thank you
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