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Animating human lower limbs using contact-invariant optimization
2013
ACM Transactions on Graphics
We present a trajectory optimization approach to animating human activities that are driven by the lower body. Our approach is based on contact-invariant optimization. We develop a simplified and generalized formulation of contact-invariant optimization that enables continuous optimization over contact timings. This formulation is applied to a fully physical humanoid model whose lower limbs are actuated by musculotendon units. Our approach does not rely on prior motion data or on task-specific
doi:10.1145/2508363.2508365
fatcat:33orbjpg25gndotbzihsr5o7xa