Topics in computer graphics- Human motion(4190.762)

2017

 

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

Sehee Min

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

Office: 302, 312-1

Phone: 02-880-1864

Class Hour

Tuesday and Thursday, 11:00 to 12:15

Class Room

302-107

Course Abstract

이 과목은 사람과 동물의 움직임에 원리를 이해하고 이를 컴퓨터 시뮬레이션으로 재현하는데 관련된 기본 지식을 익히는 것을 목표로 합니다. 사람의 몸은 뼈와 근육, 힘줄 등 복잡한 해부학적 구조를 가지고 있고, 시각/청각/촉각 등의 감각 기능과 뇌에서의 사고 기능, 근육에서의 운동 기능이 신경망을 거친 복잡한 통신과정을 거쳐 움직임을 만들어냅니다. 필연적으로 생체 동작에 대한 연구는 다학제적 성격을 갖고, 의학, 생체역학, 인간공학, 신경과학 스포츠과학, 컴퓨터 그래픽스, 비젼 등 다양한 분야의 융합을 통해서 이루어집니다.

이 과목은 대학원 세미나 과목으로 넓은 범위를 포괄하기 때문에 강의과 논문 세미나를 통한 토론이 반반의 비율로 이루어질 예정입니다. 수강생들은 자신에게 익숙한 분야 외에도 다양한 분야를 접하게 될 것입니다. 이 과목은 정해진 교재가 없이 매 시간마다 서로 다른 교재, 논문, 자료에 기반해서 강의가 진행될 예정이고, 외부 강사가 오시는 경우도 여러 차례 있을 계획입니다.

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, Young's cartoon of osteology, 퍼시픽북스

Webpage

http://mrl.snu.ac.kr/courses/CourseSpecialLecture/index_2017Fall.html

Grading Policy

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

 

Schedule

Week 1

9 / 5

Course introduction [pdf]

9 / 7

Rigid body dynamics: Newton-Euler equations

Week 2

9 / 12

Forward kinematics and its Jacobian [pdf]

9 / 14

Articulated body dynamics: Euler-Langrange equation of motion

Week 3

9 / 19

Handling ground reaction

9 / 21

Human balancing strategies

Week 4

9 / 26

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.

9 / 28

Control basics: P, PD and PID

Week 5

10 / 3

No Class

10 / 5

No Class

Week 6

10 / 10

No Class

10 / 12

Osteology and Myology I [pdf]

Week 7

10 / 17

Osteology and Myology II [pdf]

10 / 19

해부학 [pdf]

Week 8

10 / 24

정상 보행과 병적 보행 I [pdf]

10 / 26

정상 보행과 병적 보행 II [pdf]

Week 9

10 / 31

정상 보행과 병적 보행 III [pdf]

11 / 2

Muscle Modeling [pdf]

Week 10

11 / 7

Electromyography

11 / 9

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.

Week 11

11 / 14

Humanoid Robot Control

11 / 16

Trajectory Optimization Basics

 

Witkin and Kass. Spacetime optimization, SIGGRAPH 1988

Week 12

11 / 21

Trajectory Optimization with Fictional Force

 

Mordatch et al. Discovery of complex behaviors through contact-invariant optimization, SIGGRAPH 2012

11 / 23

Trajectory Optimization with Mocap References

 

Sok et al. Simulating biped behaviors from human motion data, SIGGRAPH 2007

Week 13

11 / 28

No Class

11 / 30

No Class

Week 14

12 / 5

Optimality Principles of Human Motion

 

Fang and Pollard, Efficient synthesis of physically valid human motion, SIGGRAPH 2003

 

Wang and Hertzmann, Optimizing locomotion controllers using biologically-based actuators and objectives, SIGGRAPH 2012

 

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

12 / 7

Optimal Control Basics

 

da Silva et al. Interactive Simulation of Stylized Human Locomotion, SIGGRAPH 2008

 

Lee et al. Locomotion Control for Many-Muscle Humanoids, SIGGRAPH Asia 2014

Week 15

12 / 12

Locomotion Control by Local Regression

 

Sok et al. Simulating biped behaviors from human motion data, SIGGRAPH 2007

 

Ju et al. Data-driven control of flapping flight. ACM Transactions on Graphics, 2013

12 / 14

Reinforcement Learning for Control Problems