@inproceedings{La:2021,
author = {La, Barbera V and Pardo, F and Tassa, Y and Daley, M and Richards, C and Kormushev, P and Hutchinson, J},
title = {OstrichRL: a musculoskeletal ostrich simulation to study bio-mechanical locomotion},
url = {http://kormushev.com/papers/Pardo_NeurIPS-2021.pdf},
year = {2021}
}

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TY  - CPAPER
AB  - Muscle-actuated control is a research topic of interest spanning different fields, inparticular biomechanics, robotics and graphics. This type of control is particularlychallenging because models are often overactuated, and dynamics are delayed andnon-linear. It is however a very well tested and tuned actuation model that hasundergone millions of years of evolution and that involves interesting propertiesexploiting passive forces of muscle-tendon units and efficient energy storage andrelease. To facilitate research on muscle-actuated simulation, we release a 3Dmusculoskeletal simulation of an ostrich based on the MuJoCo simulator. Ostrichesare one of the fastest bipeds on earth and are therefore an excellent model forstudying muscle-actuated bipedal locomotion. The model is based on CT scans anddissections used to gather actual muscle data such as insertion sites, lengths andpennation angles. Along with this model, we also provide a set of reinforcementlearning tasks, including reference motion tracking and a reaching task with theneck. The reference motion data are based on motion capture clips of variousbehaviors which we pre-processed and adapted to our model. This paper describeshow the model was built and iteratively improved using the tasks. We evaluate theaccuracy of the muscle actuation patterns by comparing them to experimentallycollected electromyographic data from locomoting birds. We believe that this workcan be a useful bridge between the biomechanics, reinforcement learning, graphicsand robotics communities, by providing a fast and easy to use simulation.
AU  - La,Barbera V
AU  - Pardo,F
AU  - Tassa,Y
AU  - Daley,M
AU  - Richards,C
AU  - Kormushev,P
AU  - Hutchinson,J
PY  - 2021///
TI  - OstrichRL: a musculoskeletal ostrich simulation to study bio-mechanical locomotion
UR  - http://kormushev.com/papers/Pardo_NeurIPS-2021.pdf
UR  - http://hdl.handle.net/10044/1/93940
ER  - 

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