Flexible muscular movement for two-legged creatures

At the SIGGRAPH ASIA 2013 conference, Thomas Geijtenbeek, Michiel van de Panne and Frank van der Stappen presented a method for simulating the physics of two-legged creatures based on muscular control with optimization of muscle movement and other controlled parameters. As a result, a movement control method was obtained for a variety of bipedal creatures. All actuating forces are the result of the work of simulated 3D muscle and models of neural delays included in the response chains. The listed controllers generate rotational movements that take into account biomechanical limitations. The controllers find different gaits based on the required speed, can take into account uneven surfaces and external disturbances, are able to follow in a given direction.