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Turning a Corner

Abstract

Recently, 3D gait simulations were generated by solving optimal control problems using musculoskeletal models. However, these simulations lack predictive power and require long computation time. We formulated implicit dynamics for a full-body 3D musculoskeletal model to solve optimal control problems in a computationally efficient way. We show that with the implicit formulation a full-body predictive simulation of curved running can be generated from a random initial guess in about two hours.

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Videos

Straight running

 

Curved Running

 

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