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GaitSym V2.0.0

Thursday, 12 November 2009 13:57 Bill Sellers

BILL SELLERS

GaitSym is a forward dynamic modelling program. What that means is that you specify the forces and the program uses Newton's Laws to calculate the movements. You can download it from here including a range of human and non-human 2D and 3D models to get you started. It uses the Open Dynamics Engine physics engine to do most of the hard work and provides a file format and display system so the user does not have to do any programming. It also provides various muscle models so that the forces can be generated directly from muscle activation levels and a number of hooks to allow it to be used with global optimisation tools such as genetic algorithms.

Last Updated on Friday, 15 January 2010 15:02 Read more...

GaitSym V1.0.0

Saturday, 07 February 2009 13:29 Bill Sellers

BILL SELLERS

Stop Press: Version 2 released. Follow this link.

Last Updated on Wednesday, 18 November 2009 14:07 Read more...

GaitSym FAQ

Sunday, 08 March 2009 10:24 Bill Sellers

Q. When using NPoint muscles strange things happen to my simulation: it tends to hand in the air during aerial phases for example or just looks wrong. What's going on?

A. This has been fixed in V2.0.0. However in V1.0.0 do not use NPoint muscles as an alternative for ThreePoint muscles. NPoint muscles only work properly with more than 3 points. All the example models do not use 3 point NPoint muscles.

Last Updated on Tuesday, 01 December 2009 17:52 Read more...

Simple Bipedal Models

Saturday, 07 February 2009 20:26 Bill Sellers

This is a selection of simple 2D bipedal models as described in the paper:

Sellers WI, Manning PL: Estimating dinosaur maximum running speeds using evolutionary robotics. Proceedings of the Royal Society of London B 2007, 274:2711-2716.

Last Updated on Tuesday, 01 December 2009 17:53 Read more...

Evolutionary Robotic Approaches in Primate Gait Analysis

Thursday, 25 March 2010 12:38 Bill Sellers

BILL SELLERS

William Irvin Sellers & Todd C. Pataky & Paolo Caravaggi & Robin Huw Crompton (online published version) Evolutionary Robotic Approaches in Primate Gait Analysis. International Journal of Primatology DOI 10.1007/s10764-010-9396-4

This paper shows how important the Achilles tendon is for human running by creating computer simulations with and without the tendon. With the tendon running is both faster and more efficient! Interestingly chimpanzees and gorillas do not have this tendon (well they do, but it is too small to store any energy) and it is usually described as missing in orang-utans too. Strangely gibbons have a large Achilles tendon - perhaps to help them jump.

There are a set of models to go with this new paper. These work with GaitSym although rounding issues between different version of gcc mean that some of them fall over with the current version of GaitSym. However if you are developing running human models then these may be good starting points. You can also download a video of the simulation: