Research TODO

• Read more on Hill-based muscle model
• Think of various ways to transform torque into muscle activations
  • Linearize torque-to-activation function at every time step
  • Use standard torque-based Simbicon to converge to limit cycle, then linearize torque-to-activation function around this

Development TODO

• Get a forward-simulation of a balancing simbicon character with a muscle-activated knee
• Discover muscle activation patterns and feedback gains from existing simbicon controllers

Forward simulation of simple muscles

• [DONE] Rough object-oriented design
• Implement muscle attachment class
• Implement muscle class
• Implement Hill-based muscle class
• Implement specification of forward muscle activation curves
• Integrate muscle classes with simbicon simulation

Discovery of muscle activation patterns

• Decide on an approach
• Rough object-oriented design