Dexterous manipulation and control with volumetric muscles

Seunghwan Lee; Ri Yu; Jungnam Park; Mridul Aanjaneya; Eftychios Sifakis; Jehee Lee

doi:https://doi.org/10.1145/3197517.3201330

Dexterous manipulation and control with volumetric muscles

Seunghwan Lee, Ri Yu, Jungnam Park, Mridul Aanjaneya, Eftychios Sifakis, Jehee Lee

School of Arts and Sciences, Computer Science

Rutgers, The State University

Research output: Contribution to journal › Article › peer-review

14 Scopus citations

Abstract

We propose a framework for simulation and control of the human musculoskeletal system, capable of reproducing realistic animations of dexterous activities with high-level coordination. We present the first controllable system in this class that incorporates volumetric muscle actuators, tightly coupled with the motion controller, in enhancement of line-segment approximations that prior art is overwhelmingly restricted to. The theoretical framework put forth by our methodology computes all the necessary Jacobians for control, even with the drastically increased dimensionality of the state descriptors associated with three-dimensional, volumetric muscles. The direct coupling of volumetric actuators in the controller allows us to model muscular deficiencies that manifest in shape and geometry, in ways that cannot be captured with line-segment approximations. Our controller is coupled with a trajectory optimization framework, and its efficacy is demonstrated in complex motion tasks such as juggling, and weightlifting sequences with variable anatomic parameters and interaction constraints.

Original language	English (US)
Article number	A18
Journal	ACM Transactions on Graphics
Volume	37
Issue number	4
DOIs	https://doi.org/10.1145/3197517.3201330
State	Published - 2018

ASJC Scopus subject areas

Computer Graphics and Computer-Aided Design

Keywords

Motion control
Musculoskeletal simulation
Trajectory Optimization
Volumetric Muscles

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https://doi.org/10.1145/3197517.3201330

Cite this

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title = "Dexterous manipulation and control with volumetric muscles",

abstract = "We propose a framework for simulation and control of the human musculoskeletal system, capable of reproducing realistic animations of dexterous activities with high-level coordination. We present the first controllable system in this class that incorporates volumetric muscle actuators, tightly coupled with the motion controller, in enhancement of line-segment approximations that prior art is overwhelmingly restricted to. The theoretical framework put forth by our methodology computes all the necessary Jacobians for control, even with the drastically increased dimensionality of the state descriptors associated with three-dimensional, volumetric muscles. The direct coupling of volumetric actuators in the controller allows us to model muscular deficiencies that manifest in shape and geometry, in ways that cannot be captured with line-segment approximations. Our controller is coupled with a trajectory optimization framework, and its efficacy is demonstrated in complex motion tasks such as juggling, and weightlifting sequences with variable anatomic parameters and interaction constraints.",

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AU - Yu, Ri

AU - Park, Jungnam

AU - Aanjaneya, Mridul

AU - Sifakis, Eftychios

AU - Lee, Jehee

N1 - Funding Information: This work was supported by Samsung Research Funding Center under Project Number SRFC-IT1801-01, and Eftychios Sifakis was supported in part by National Science Foundation grants IIS-1253598, CCF-1533885. Publisher Copyright: © 2018 Copyright held by the owner/author(s).

PY - 2018

Y1 - 2018

N2 - We propose a framework for simulation and control of the human musculoskeletal system, capable of reproducing realistic animations of dexterous activities with high-level coordination. We present the first controllable system in this class that incorporates volumetric muscle actuators, tightly coupled with the motion controller, in enhancement of line-segment approximations that prior art is overwhelmingly restricted to. The theoretical framework put forth by our methodology computes all the necessary Jacobians for control, even with the drastically increased dimensionality of the state descriptors associated with three-dimensional, volumetric muscles. The direct coupling of volumetric actuators in the controller allows us to model muscular deficiencies that manifest in shape and geometry, in ways that cannot be captured with line-segment approximations. Our controller is coupled with a trajectory optimization framework, and its efficacy is demonstrated in complex motion tasks such as juggling, and weightlifting sequences with variable anatomic parameters and interaction constraints.

AB - We propose a framework for simulation and control of the human musculoskeletal system, capable of reproducing realistic animations of dexterous activities with high-level coordination. We present the first controllable system in this class that incorporates volumetric muscle actuators, tightly coupled with the motion controller, in enhancement of line-segment approximations that prior art is overwhelmingly restricted to. The theoretical framework put forth by our methodology computes all the necessary Jacobians for control, even with the drastically increased dimensionality of the state descriptors associated with three-dimensional, volumetric muscles. The direct coupling of volumetric actuators in the controller allows us to model muscular deficiencies that manifest in shape and geometry, in ways that cannot be captured with line-segment approximations. Our controller is coupled with a trajectory optimization framework, and its efficacy is demonstrated in complex motion tasks such as juggling, and weightlifting sequences with variable anatomic parameters and interaction constraints.

KW - Motion control

KW - Musculoskeletal simulation

KW - Trajectory Optimization

KW - Volumetric Muscles

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Dexterous manipulation and control with volumetric muscles

Abstract

ASJC Scopus subject areas

Keywords

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