CKSRI Seminar Series 2024 “Self Model for Embodied Intelligence: Modeling and Control of Full-Body Human Musculoskeletal System"

ABSTRACT:

This seminar has invited Prof. Yanan Sui, Associate Professor at Tsinghua University to discuss human motion control and the better design of interactive robots.

Modeling and control of the human musculoskeletal system is important for understanding human motor function, developing embodied intelligence, and optimizing human-robot interaction systems. 

However, current models are restricted to a limited range of body parts and often with a reduced number of muscles. There is also a lack of algorithms capable of controlling over 600 muscles to generate reasonable human movements. To fill this gap, we build a musculoskeletal model with 90 body segments, 206 joints, and 700 muscle-tendon units, allowing simulation of whole-body dynamics and interaction with various devices. 

We develop a new algorithm using low-dimensional representation and hierarchical deep reinforcement learning to achieve state-of-the-art whole-body control. We validate the effectiveness of our model and algorithm in simulations using real human locomotion data. This work promotes a deeper understanding of human motion control and better design of interactive robots.