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Progress Report

Progress Report. Yoonsang Lee, Movement Research Lab., Seoul National University. Previous Result. New Result. New Result. Joint Constraint. Ligament “passive muscle” Meaningful with contact based joint modeling CoordinateLimitForce Penalty method Parameter : stiffness, damping,

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Progress Report

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  1. Progress Report Yoonsang Lee, Movement Research Lab., Seoul National University

  2. Previous Result

  3. New Result

  4. New Result

  5. Joint Constraint • Ligament • “passive muscle” • Meaningful with contact based joint modeling • CoordinateLimitForce • Penalty method • Parameter : stiffness, damping, transition • Parameters for each person?

  6. Joint Range • Joint range for each person?

  7. gait2356 model • Based on gait2354 model • 23 dof, 56 muscles • Add eversion muscle : Peroneuslongus • Add contact geometry, joint limit force • Enough muscles?

  8. Upper Body • We don’t have motion data of upper body now. • Just lower body model? • Additional markers for upper body?

  9. bvh → mot

  10. Computation Time • Integrator time step size : 0.001s

  11. Walking Controller • Yoonsang Lee, Sungeun Kim, Jehee Lee, Data-Driven Biped Control, ACM Transactions on Graphics (SIGGRAPH 2010), Vol. 29, No. 4, Article 129, July 2010

  12. Result (0.5x)

  13. Result (0.5x)

  14. Dicussion • Model customizing • Bone : shape, COM, mass, inertia • Joint : position, axis, range, constraint force parameter • Muscle : origin & insertion point, parameters

  15. Next.. • Improve tracking algorithm • dynamic states → joint torques → muscle forces → muscle activations • (current : muscle states → muscle forces → muscle activations) • Normal gait tracking of normal model • Build basic pathologic model • Normal gait tracking of pathologic model • Pathologic gait tracking of pathologic model

  16. Thank you

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