Journal ArticleDOI
Flexible muscle-based locomotion for bipedal creatures
Thomas Geijtenbeek,Michiel van de Panne,A. Frank van der Stappen +2 more
- Vol. 32, Iss: 6, pp 206
TLDR
A muscle-based control method for simulated bipeds in which both the muscle routing and control parameters are optimized yields a generic locomotion control method that supports a variety of bipedal creatures.Abstract:
We present a muscle-based control method for simulated bipeds in which both the muscle routing and control parameters are optimized. This yields a generic locomotion control method that supports a variety of bipedal creatures. All actuation forces are the result of 3D simulated muscles, and a model of neural delay is included for all feedback paths. As a result, our controllers generate torque patterns that incorporate biomechanical constraints. The synthesized controllers find different gaits based on target speed, can cope with uneven terrain and external perturbations, and can steer to target directions.read more
Citations
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Journal ArticleDOI
DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills
TL;DR: In this paper, the authors use reinforcement learning to learn robust control policies capable of imitating a broad range of example motion clips, while also learning complex recoveries, adapting to changes in morphology, and accomplishing user-specified goals.
Journal ArticleDOI
Evolutionary Robotics: What, Why, and Where to
Stéphane Doncieux,Stéphane Doncieux,Nicolas Bredeche,Nicolas Bredeche,Jean-Baptiste Mouret,Jean-Baptiste Mouret,Agoston E. Eiben +6 more
TL;DR: The main achievements of evolutionary robotics are considered, focusing particularly on its contributions to both engineering and biology, and some of the most interesting findings are reviewed.
Journal ArticleDOI
Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max
Claudio Semini,Victor Barasuol,Jake Goldsmith,Marco Frigerio,Michele Focchi,Yifu Gao,Darwin G. Caldwell +6 more
TL;DR: In this paper, the authors presented the design of the hydraulically actuated quadruped robot HyQ2Max, which is an evolution of the 80 kg agile and versatile robot HQ. Compared to HQ, the new robot needs to be more rugged, more powerful and extend the existing locomotion skills with self-righting capability.
Journal ArticleDOI
Inverse Kinematics Techniques in Computer Graphics: A Survey
TL;DR: This survey presents a comprehensive review of the IK problem and the solutions developed over the years from the computer graphics point of view, and suggests which IK family of solvers is best suited for particular problems.
Journal ArticleDOI
SFV: reinforcement learning of physical skills from videos
TL;DR: In this article, a method that enables physically simulated characters to learn skills from videos (SFV) is proposed, based on deep pose estimation and deep reinforcement learning, allowing data-driven animation to leverage the abundance of publicly available video clips from the web.
References
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