1. Progress Report Yoonsang Lee, Movement Research Lab., Seoul National University

2. Previous Result

3. Today Tracking simulation human model reference trajectory compute muscle activation forward dynamics simulation

4. Reference Motion

5. Test Model Modified version of “BothLegs“ model 21 dof 93 muscles BothLegs

6. Simulation (with fixed pelvis)

7. 0.2x speed

8. Muscle-level PD control Use difference between length information of each muscle reference motion (t=0.884s)simulation (t=0.884s)

9. Muscle-level PD control, of reference motion are kinematically determined We can get, from simulation state

10. Simulation with Contact

11. 0.2x Speed

12. Discussion Excitation & activation Agonist / antagonist Feedforward term Computation time

13. Next Try more simple model (gait2354) Motion data generation –bvh -> mot More stable tracking

14. Thank you