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Biological Inspiration from the Poly-PEDAL Laboratory
Animation
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| A Bug's Life - Disney and Pixar.
Professor Full provided biological inspiration toward the design of computer animated characters. Data on motion was used by animators to develop or express the character's personality, not to exactly copy an insect's leg movements. Video of animals moving on different surfaces, negotiating obstacles and interacting with water were used to determine how the characters face the environment.
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MIT Leg Lab, Boston Dynamics Inc. and Mechanical Dynamics
The Poly-PEDAL Laboratory has worked with Dr. Marc Raibert formerly at MIT (The LEG LAB) and now at BDI and Mechanical Dynamics using ADAMS. We have mainly focused on a many-jointed (36 DOF) model for 6-legged locomotion. Although the model is an animation of a cockroach, it goes beyond just mathcing the motion (kinematics). The model is dynamic and incorporates the physical effects of gravity, inertia and collisions.
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BDI Model
3D Dyanmic Model of a Cockroach
ADAMS Model
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Musculographics Inc. and Stanford University. The Poly-PEDAL Lab has collaborated with Prof. Scott Delp and Felix Zajac at Stanford. They designed a human surgery simulation program that can model limbs with muscles in them (SIMM), so that researchers can understand limb function and surgeons can try operations before-hand. We have used this to design a three-dimensional leg of an insect with muscles included. Although the model is an animation of a cockroach leg, it goes beyond just mathcing its motion (kinematics). The model is dynamic and incorporates the physical effects of gravity, inertia and allows muscles to exert force.
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3D Hind Leg Dynamic Model of the Cockroach, Blaberus discodalis
SIMM Model
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