Optimal gait and form for animal locomotion
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Summary
This work presents a fully automatic method for generating gaits and morphologies for legged animal locomotion which combines an efficient derivative-aware spacetime constraints optimization with a derivative-free approach able to find non-local solutions in high-dimensional discontinuous spaces.
- Type
- article
- Published
- 2009-07-27
- Cited by
- 176
- References
- 30
- OpenAlex
- https://openalex.org/W2099824239
- Semantic Scholar
- https://api.semanticscholar.org/CorpusID:1891278
Keywords
Gait, Computer science, Space (punctuation), Control theory (sociology), Artificial intelligence
References
- Dinosaur Locomotion: Beyond the bones
- On Growth and Form: The Complete Revised Edition
- Hierarchical Spacetime Control of Linked Figures
- SNOPT: An SQP Algorithm for Large-Scale Constrained Optimization
- Efficient generation of motion transitions using spacetime constraints
- Adapting simulated behaviors for new characters
- Efficient symbolic differentiation for graphics applications
- Real-time motion retargeting to highly varied user-created morphologies
- Animation of dynamic legged locomotion
- Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
- Optima for animals
- Further experience with controller-based automatic motion synthesis for articulated figures
- Computer optimization of a minimal biped model discovers walking and running
- Efficient synthesis of physically valid human motion
- Hierarchical spacetime control
- Muscle cross-sectional area and voluntary force production characteristics in elite strength- and endurance-trained athletes and sprinters
- Adapting arbitrary normal mutation distributions in evolution strategies: the covariance matrix adaptation
- NeuroAnimator: fast neural network emulation and control of physics-based models
- Evolving virtual creatures
- Learning physics-based motion style with nonlinear inverse optimization
Cited by
- Computer Simulations Imply Forelimb-Dominated Underwater Flight in Plesiosaurs
- Physics-Based Simulation of Canine Gait
- Procedural locomotion of multi-legged characters in complex dynamic environments : real-time applications. (Locomotion procédurale de créatures à n-pattes dans des environnements complexes et dynamiques : vers des applications en temps réels)
- Adaptive neuromechanical control for energy-efficient and adaptive compliant hexapedal walking on rough surfaces
- 2-3 アニメーション
- Procedural locomotion of multilegged characters in dynamic environments
- Optimal control for autonomous motor behavior
- Feedback control for rotational movements in feature space
- Data-driven biped control
- Control of rotational dynamics for ground behaviors
- Robust physics-based locomotion using low-dimensional planning
- Computational design of metallophone contact sounds
- Computer-generated residential building layouts
- Animating articulated characters using wiggly splines
- Sampling-based contact-rich motion control
- Motion-guided mechanical toy modeling
- Constraint-Based Prioritized Trajectory Planning for Multibody Systems
- Online motion synthesis using sequential Monte Carlo
- A novel locomotion synthesis and optimisation framework for insects
- Procedural model of horse simulation
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