📺 Flexible Muscle-Based Locomotion for Bipedal Creatures
Flexible Muscle-Based Locomotion for Bipedal Creatures (by John Goatstream ) 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....