Topics in computer graphics- Human motion(4190.762)

2015 Spring

 

Instructor

Jehee Lee

E-mail: jehee (at) mrl (dot) snu (dot) ac (dot) kr

Office: 302-325

Phone: 02-880-1845

 

Co-instructor: Moon Seok Park

pmsmed (at) gmail (dot) com

Teaching Assistance

Kibeom Youn

E-mail: kibeom.youn (at) mrl (dot) snu (dot) ac (dot) kr

Office: 138-416

Phone: 02-880-1867

Class Hour

Tuesday and Thursday, 11:00 to 12:15

Class Room

302-106

Textbook

Jon C Thompson, Netter's Concise Orthopaedic Anatomy, W.B. Saunders Company

Richard L. Drake and A. Wayne Vogl, Gray's Anatomy for Students, Churchill Livingstone

최영, Youngs cartoon of osteology, 퍼시픽북스

Webpage

http://mrl.snu.ac.kr/courses/CourseSpecialLecture/index_2015spring.html

Grading Policy

Participation(30%), Presentation(30%), Exams(40%)

 

Schedule

Week 1

3 / 3

Course introduction [pdf], syllabus [pdf]

3 / 5

Human lower extremity anatomy [pdf]

Week 2

3 / 10

Osteology and Myology [pdf]

3 / 13

Osteology and Myology [pdf]

Week 3

3 / 17

Osteology and Myology [pdf]

3 / 19

Bone & muscle modeling [pdf]

Week 4

3 / 24

Quiz

3 / 26

No Class

Week 5

3 / 31

Normal gait [pdf]

4 / 2

Normal gait (continued)

Week 6

4 / 7

Forward kinematics and its Jacobian [pdf]

4 / 9

Rigid body dynamics: Newton-Euler equations

Week 7

4 / 14

No Class

4 / 16

No Class

Week 8

4 / 21

Articulated body dynamics: Euler-Langrange equation of motion

4 / 23

Handling ground reaction

Week 9

4 / 28

Human balancing strategies

4 / 30

Simplified balancing models

- Linear inverted pendulum model

S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, “Biped walking pattern generation by using preview control of zero-moment point,” in Robotics and Automation, 2003. Proceedings. ICRA’03. IEEE International Conference on, vol. 2. IEEE, 2003, pp. 1620–1626.

- Inverted pendulum for simulating human walking

Y.-Y. Tsai, W.-C. Lin, K. B. Cheng, J. Lee, and T.-Y. Lee, “Real-time physics-based 3d biped character animation using an inverted pendulum model,” Visualization and Computer Graphics, IEEE Transactions on, vol. 16, no. 2, pp. 325–337, 2010.

- Linear inverted pendulum plus flywheel model

J. Pratt, J. Carff, S. Drakunov, and A. Goswami, “Capture point: A step toward humanoid push recovery,” in Humanoid Robots, 2006 6th IEEE-RAS International Conference on. IEEE, 2006, pp. 200–207.

Week 10

5 / 5

No Class ( Children's Day )

5 / 7

Control basics: P, PD, and PID

Week 11

5 / 12

Feedback balance control

- Running

J. K. Hodgins, W. L. Wooten, D. C. Brogan, and J. F. O’Brien, “Animating human athletics,” in Proceedings of the 22Nd Annual Conference on Computer Graphics and Interactive Techniques, ser. SIGGRAPH ’95. New York, NY, USA: ACM, 1995, pp. 71–78.

- Walking

K. Yin, K. Loken, and M. van de Panne, “Simbicon: Simple biped locomotion control,” in ACM Transactions on Graphics (TOG), vol. 26, no. 3. ACM, 2007, p. 105.

5 / 14

Trajectory (Spacetime) optimization

Witkin and M. Kass, “Spacetime constraints,” in ACM Siggraph Computer Graphics, vol. 22, no. 4. ACM, 1988, pp. 159–168.

I. Mordatch, E. Todorov, and Z. Popovi´ c, “Discovery of complex behaviors through contact-invariant optimization,” ACM Transactions on Graphics (TOG), vol. 31, no. 4, p. 43, 2012.

Week 12

5 / 19

Online QP

5 / 21

Motion capture references for control [pdf]

K. W. Sok, M. Kim, and J. Lee, “Simulating biped behaviors from human motion data,” in ACM Transactions on Graphics (TOG), vol. 26, no. 3. ACM, 2007, p. 107.

 

Y. Lee, S. Kim, and J. Lee, “Data-driven biped control,” ACM Transactions on Graphics (TOG), vol. 29, no. 4, p. 129, 2010.

Week 13

5 / 26

Muscle-actuated locomotion

 

H. Geyer and H. Herr, “A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities,” Neural Systems and Rehabilitation Engineering, IEEE Trans-actions on, vol. 18, no. 3, pp. 263–273, 2010.

 

J. M. Wang, S. R. Hamner, S. L. Delp, and V. Koltun, “Optimizing lo-comotion controllers using biologically-based actuators and objectives.” ACM Trans. Graph., vol. 31, no. 4, p. 25, 2012.

5 / 28

Muscle-actuated locomotion (continued)

 

Y. Lee, M. S. Park, T. Kwon, and J. Lee, “Locomotion control for many-muscle humanoids,” ACM Transactions on Graphics (TOG), vol. 33, no. 6, p. 218, 2014.

 

T. Kwon and J. Hodgins, “Control systems for human running using an inverted pendulum model and a reference motion capture sequence,” in Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation. Eurographics Association, 2010, pp. 129–138.

Week 14

6 / 2

Optimality Principles

 

M. Ackermann and A. J. van den Bogert, “Optimality principles for model-based prediction of human gait,” Journal of biomechanics, vol. 43, no. 6, pp. 1055–1060, 2010.

 

S. Collins, A. Ruina, R. Tedrake, and M. Wisse, “Efficient bipedal robots based on passive-dynamic walkers,” Science, vol. 307, no. 5712, pp. 1082–1085, 2005.

6 / 4

Regression and Learning

Week 15

6 / 9

Reinforcement Learning

6 / 11