Changing Objectives of Optimization 유리 Movement Research Lab.

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Presentation transcript:

Changing Objectives of Optimization 유리 Movement Research Lab

Overview Objectives Muscle actuation 150 cal/m

Overview(cont.) Joint torque 180 cal/m Metabolic energy expenditure 220 cal/m

Topics 1. Metabolic energy expenditure minimization 2. Stability experiment 3. Co-activation rate

Topics 1. Metabolic energy expenditure minimization 2. Stability experiment 3. Co-activation rate

Metabolic energy expenditure

Topics 1. Metabolic energy expenditure minimization 2. Stability experiment 3. Co-activation rate

Trade-off Optimality Stability

Stability experiment Unknown factors -Varying external forces -User inputs -When transitions occur between controllers -Motor noises WANG, J. M., FLEET, D. J., AND HERTZMANN, A Optimizing walking controllers for uncertain inputs and environments. ACM Transactions on Graphics 29, 4.

Stability experiment(cont.) Unknown factors -Varying external forces -User inputs -When transitions occur between controllers -Motor noises

Varying external forces N/ 0.2s Muscle ActuationJoint torqueMEE 100XXΔ 80ΔOO 60OOO 40OOO 20OOO

Topics 1. Metabolic energy expenditure minimization 2. Stability experiment 3. Co-activation rate

Co-activation rate(CR)

Coactivation for anterior tibialis / lateral gastrocnemius Muscle actuationJoint torqueMetabolic energy Anterior Tibialis Lateral Gastrocnemius

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