相关论文: Differentiable Simulation of Inertial Musculotendo…
We present a differentiable soft-body physics simulator that can be composed with neural networks as a differentiable layer. In contrast to other differentiable physics approaches that use explicit forward models to define state…
We present a new approach for modelling musculoskeletal anatomy. Unlike previous methods, we do not model individual muscle shapes as geometric primitives (polygonal meshes, NURBS etc.). Instead, we adopt a volumetric segmentation approach…
Euler angle representation in biomechanical analysis allows straightforward description of joints rotations. However, application of Euler angles could be limited due to singularity called gimbal lock. Quaternions offer an alternative way…
Broader access to high-quality movement analysis could greatly benefit movement science and rehabilitation, such as allowing more detailed characterization of movement impairments and responses to interventions, or even enabling early…
The embodied learning of human motor control requires whole-body neuro-actuated musculoskeletal dynamics, while the internal muscle-driven processes underlying movement remain inaccessible to direct measurement. Computational modeling…
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy,…
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…
We present a method for efficient differentiable simulation of articulated bodies. This enables integration of articulated body dynamics into deep learning frameworks, and gradient-based optimization of neural networks that operate on…
We introduce Temporal Residual Jacobians as a novel representation to enable data-driven motion transfer. Our approach does not assume access to any rigging or intermediate shape keyframes, produces geometrically and temporally consistent…
This paper presents an efficient learning-based method to solve the inverse kinematic (IK) problem on soft robots with highly non-linear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of…
Tendon-driven musculoskeletal humanoids typically have complex structures similar to those of human beings, such as ball joints and the scapula, in which encoders cannot be installed. Therefore, joint angles cannot be directly obtained and…
Designing adaptable control laws that can transfer between different robots is a challenge because of kinematic and dynamic differences, as well as in scenarios where external sensors are used. In this work, we empirically investigate a…
Existing digital human models approximate the human skeletal system using rigid bodies connected by rotational joints. While the simplification is considered acceptable for legs and arms, it significantly lacks fidelity to model rich torso…
This paper provides a new avenue for exploiting deep neural networks to improve physics-based simulation. Specifically, we integrate the classic Lagrangian mechanics with a deep autoencoder to accelerate elastic simulation of deformable…
Learning a locomotion controller for a musculoskeletal system is challenging due to over-actuation and high-dimensional action space. While many reinforcement learning methods attempt to address this issue, they often struggle to learn…
The work presented in this report introduces a framework aimed towards learning to imitate human gaits. Humans exhibit movements like walking, running, and jumping in the most efficient manner, which served as the source of motivation for…
Using joint actuators to drive the skeletal movements is a common practice in character animation, but the resultant torque patterns are often unnatural or infeasible for real humans to achieve. On the other hand, physiologically-based…
Skeletal muscles are living tissues that can undergo large deformations in short periods of time and that can be activated to produce force. In this paper we use the principles of continuum mechanics to propose a dynamic, fully non-linear,…
In this paper the problem of matching Forward Kinematics (FK) motion of a 3 Dimensional (3D) joint chain to the Inverse Kinematics (IK) movement and vice versa has been addressed. The problem lies at the heart of animating a 3D character…
Manipulator kinematics is concerned with the motion of each link within a manipulator without considering mass or force. In this article, which is the first in a two-part tutorial, we provide an introduction to modelling manipulator…