Understanding the relation between anatomy and gait is key to successful predictive gait simulation. In this paper, we present Generative GaitNet, which is a novel network architecture based on deep reinforcement learning for controlling a comprehensive, fullbody, musculoskeletal model with 304 Hill-type musculotendons. The Generative GaitNet is a pre-trained, integrated system of artificial neural networks learned in a 618-dimensional continuous domain of anatomy conditions (e.g., mass distribution, body proportion, bone deformity, and muscle deficits) and gait conditions (e.g., stride and cadence). The pre-trained GaitNet takes anatomy and gait conditions as input and generates a series of gait cycles appropriate to the conditions through physics-based simulation. We will demonstrate the efficacy and expressive power of Generative GaitNet to generate a variety of healthy and pathological human gaits in real-time physics-based simulation.

Code is available in GitHub