Whole-body musculo-skeletal model V1

Abstract : The main goal of this project was to build a basic musculo-skeletal model of the human body in order to be able of analyzing and simulating human motion. To this end, an OpenSim [4] musculo-skeletal model was modified and augmented based on previous works of the literature. The resulting model is also compatible with Pinocchio [3], an open source C++ library for efficient rigid multi-body dynamics computations based on revisited Roy Featherstone’s algorithms. This allows users for creating powerful simulations of whole-body human-based motions with anthropomorphic systems. Using Pinocchio with the model permits also to use state-of-the-art libraries written in C++ or python (e.g. from robotics, machine learning,...)
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Contributor : Galo Maldonado <>
Submitted on : Tuesday, July 17, 2018 - 11:38:10 AM
Last modification on : Saturday, October 26, 2019 - 1:34:57 AM
Long-term archiving on : Thursday, October 18, 2018 - 1:44:28 PM

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Galo Maldonado, Philippe Souères, Bruno Watier. Whole-body musculo-skeletal model V1. [Technical Report] Rapport LAAS n° 18233, Université de Toulouse 3 Paul Sabatier; LAAS-CNRS. 2018. ⟨hal-01841355⟩

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