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Progress Report

Progress Report. Yoonsang Lee, Movement Research Lab., Seoul National University. Previous Result. Dynamics of Musculoskeletal System. Activation dynamics Contraction dynamics Forward dynamics (equations of motion). Inverse / Hybrid Dynamics.

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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. Dynamics of Musculoskeletal System • Activation dynamics • Contraction dynamics • Forward dynamics (equations of motion)

  4. Inverse / Hybrid Dynamics • OpenSim : inverse dynamics(not good), hybrid dynamics(x) • Use those of VirtualPhysics Inverse dynamics tracking Hybrid dynamics tracking

  5. Model Converting • Forward dynamics : OpenSim • Inverse / hybrid dynamics : VirtualPhysics • OpenSim model -> VirtualPhysics model • Rigidbody (mass, inertia, CoM) • Joint (position, axis) • No muscles

  6. Tracking Control • (prev) Muscle state based PD control • Muscle state -> muscle excitation

  7. Tracking Control • Inverse / hybrid dynamics tracking control • Biped state -> desired acceleration : • Accelerations -> torques : Inverse / hybrid dynamics solver • forces : • excitations(?)

  8. Tracking Control Test • Actuator Type • Torquer (motor) • Path forcer (ideal muscle) • Control Type • Inverse dynamics • Hybrid dynamics • Joint PD • Force distribution • Minmum norm : • Quadratic Programming :

  9. reference motion (1.0x slower) torquer, inverse dyn (4.8) torquer, PD (5.3) torquer, hybrid dyn (4.8)

  10. path forcer, hybrid dyn, min norm (10.4) torquer, hybrid dyn (4.8)

  11. path forcer, PD, QP (24.9) path forcer, PD, min norm (10.8)

  12. Thank you

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