From the video description:We will first try to reproduce the results of the article Flexible Muscle-Based Locomotion for Bipedal Creatures. CMA-ES and COCO benchmark work well. But is removed from this project (moved to EvoMotion/old) RL environments with bullet and OpenGL/GLFW can be created (only cartpole is done for the moment)Physics-based locomotion methods, which combine physically simulated.All actuation forces are the result of 3D simulated muscles, and a model of neural delay is included for all feedback paths. As a result, our controllers generate torque patterns that incorporate biomechanical constraints. The synthesized controllers find different gaits based on target speed, can cope with uneven terrain and external perturbations, and can steer to target directions.Yeah, whatever. What we see here resembles, in the best cases, a test of a Boston Dynamics robot, and in the worst cases, QWOP. Flexible muscle-based locomotion for bipedal creatures more. Model-based estimation of muscle forces through inverse dynamic analysis is a well established research technique with potential applications in orthopaedic and neurological rehabilitation (Erdemir et al., 2007).Flexible Muscle-Based Locomotion for Bipedal Creatures Thomas Geijtenbeek Michiel van de Panne A.An animal or machine that usually moves in a bipedal manner is known as a biped / ˈ b aɪ p ɛ d/, meaning 'two feet' (from Latin bis 'double' and pes 'foot'). An ostrich, the fastest extant biped at 70 km/h (43 mph) Bipedalism is a form of terrestrial locomotion where an organism moves by means of its two rear limbs or legs. Oh yeah, don't miss the outtake at the end.Many primate and bear species will adopt a bipedal gait in order to reach food or explore their environment, though there are a few cases where they walk on their hind limbs only. Several lizard species move bipedally when running, usually to escape from threats. In the Triassic period some groups of archosaurs (a group that includes crocodiles and dinosaurs) developed bipedalism among the dinosaurs, all the early forms and many later groups were habitual or exclusive bipeds the birds are members of a clade of exclusively bipedal dinosaurs, the theropods.A larger number of modern species intermittently or briefly use a bipedal gait. Within mammals, habitual bipedalism has evolved multiple times, with the macropods, kangaroo rats and mice, springhare, hopping mice, pangolins and hominin apes ( australopithecines and humans) as well as various other extinct groups evolving the trait independently.
Flexible Muscle-Based Locomotion For Bipedal Creatures Free For OtherWhile upright, non-locomotory limbs become free for other uses, including manipulation (in primates and rodents), flight (in birds), digging (in giant pangolin), combat (in bears, great apes and the large monitor lizard) or camouflage.The maximum bipedal speed appears slower than the maximum speed of quadrupedal movement with a flexible backbone – both the ostrich and the red kangaroo can reach speeds of 70 km/h (43 mph), while the cheetah can exceed 100 km/h (62 mph). Bipedalism raises the head this allows a greater field of vision with improved detection of distant dangers or resources, access to deeper water for wading animals and allows the animals to reach higher food sources with their mouths. 7.6 Early bipedalism in homininae modelThe word is derived from the Latin words bi(s) 'two' and ped- 'foot', as contrasted with quadruped 'four feet'.Limited and exclusive bipedalism can offer a species several advantages. 5.3 Archosaurs (includes birds, crocodiles, and dinosaurs) Some animals commonly stand on their hind legs to reach food, keep watch, threaten a competitor or predator, or pose in courtship, but do not move bipedally. Many animals rear up on their hind legs while fighting or copulating. Even if one ignores exceptions caused by some kind of injury or illness, there are many unclear cases, including the fact that "normal" humans can crawl on hands and knees. There are even reports of humans who normally walk on all fours with their feet but not their knees on the ground, but these cases are a result of conditions such as Uner Tan syndrome — very rare genetic neurological disorders rather than normal behavior. Even this distinction is not completely clear-cut — for example, humans other than infants normally walk and run in biped fashion, but almost all can crawl on hands and knees when necessary. Optional) or "obligate" (the animal has no reasonable alternative). Facultative and obligate bipedalism Zoologists often label behaviors, including bipedalism, as "facultative" (i.e. Bipedality in kangaroo rats has been hypothesized to improve locomotor performance, which could aid in escaping from predators. One foot in front of another, with periods where both feet are off the ground. One foot in front of another, with at least one foot on the ground at any time. In most bipeds this is an active process, requiring constant adjustment of balance. Staying still on both legs. Normal humans may be considered "obligate" bipeds because the alternatives are very uncomfortable and usually only resorted to when walking is impossible.There are a number of states of movement commonly associated with bipedalism. Free embrilliance serial numberIts long hind-legs, short forelegs, and distinctive joints all suggest bipedalism. Tree kangaroos are able to walk or hop, most commonly alternating feet when moving arboreally and hopping on both feet simultaneously when on the ground.There are no known living or fossil amphibians which exhibited obligate bipedalism.Many species of lizards become bipedal during high-speed, sprint locomotion, including the world's fastest lizard, the spiny-tailed iguana (genus Ctenosaura).The first known biped is the bolosaurid Eudibamus whose fossils date from 290 million years ago. On the other hand, most macropods, smaller birds, lemurs and bipedal rodents move by hopping on both legs simultaneously. Humans, gibbons and large birds walk by raising one foot at a time. Bipedal movement also re-evolved in a number of other dinosaur lineages such as the iguanodons. All dinosaurs are thought to be descended from a fully bipedal ancestor, perhaps similar to Eoraptor. However, hoatzin chicks have claws on their wings which they use for climbing.Bipedalism evolved more than once in archosaurs, the group that includes both dinosaurs and crocodilians. ![]() All primates possess some bipedal ability, though most species primarily use quadrupedal locomotion on land. Bipedal movement is less common among mammals, most of which are quadrupedal. Macropods are believed to have evolved bipedal hopping only once in their evolution, at some time no later than 45 million years ago. Humans, as their bipedalism has been extensively studied, are documented in the next section. The discovery of primitive, dinosaur-like ornithodirans such as Marasuchus and Lagerpeton in Argentinian Middle Triassic strata supports this view analysis of recovered fossils suggests that these animals were indeed small, bipedal predators.A number of groups of extant mammals have independently evolved bipedalism as their main form of locomotion - for example humans, giant pangolins, the extinct giant ground sloths, numerous species of jumping rodents and macropods. One black bear, Pedals, became famous locally and on the internet for having a frequent bipedal gait, although this is attributed to injuries on the bear's front paws.Most bipedal animals move with their backs close to horizontal, using a long tail to balance the weight of their bodies. Exceptions are the ground pangolin and in some circumstances the tree kangaroo. Very few mammals other than primates commonly move bipedally by an alternating gait rather than hopping.
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