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<p>Dear colleagues, <br>
</p>
<p>please find below a PhD position co-supervised between MimeTIC
team in Rennes, and CNRS/LAAS in Toulouse. Would you please
forward to potential students who could be interested in character
simulation and optimal control. <br>
</p>
<p>The topics is: <br>
</p>
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<p class="MsoTitle"><font size="+3"><b><span
style="mso-ansi-language:EN-US" lang="EN-US">PhD offer:
HoBis:
simulation of plausible bipedal locomotion of human and
non-human <a
style="mso-comment-reference:FM_1;mso-comment-date:20181030T1010"><span
style="mso-comment-continuation:2">primate.</span></a></span></b></font><span
style="mso-ansi-language:EN-US" lang="EN-US"></span></p>
<h1><span style="mso-ansi-language:EN-US" lang="EN-US">Context</span></h1>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">Within the
framework of a national collaborative project “HoBis” funded
by the French ANR
agency, the goal of this position is to design a new
simulation framework
aiming at simulating plausible bipedal locomotion given an
anatomical model. The
project gathered experts in paleoanthropology, anatomy,
biomechanics, computer
science and robotics. This part of the HoBis project aims at
increasing
fundamental knowledge about bipedal locomotion of disappeared
species
(Afarensis, Neanderthal...) in an evolutionary perspective. To
achieve such
challenge, anatomists and paleoanthropologists from the Museum
National
d’Histoires Naturelles (CNRS) together with a CNRS primatology
platform will
gather a unique collection of anatomical and motion data for
various species,
such as humans and non-human (olive baboons, bonobos…)
primates. Thus, this PhD
project aims at simulating bipedal locomotion of living
species (primates and
humans) first, and then to adapt the simulation to disappeared
species. MimeTIC
Inria team (computer sciences, biomechanics and sports
sciences) and CNRS-LAAS
(robotics and biomechanics) will supervise the PhD to address
the problem of
simulating plausible locomotion for such anatomical models.
The co-supervised PhD
position will work on this specific task, in collaboration
with the two teams
involved in the HoBis Project. </span></p>
<h1><span style="mso-ansi-language:EN-US" lang="EN-US">Teams</span></h1>
<p class="MsoNormal"><b style="mso-bidi-font-weight:normal"><span
style="mso-ansi-language:EN-US" lang="EN-US">MimeTIC inria</span></b><span
style="mso-ansi-language:EN-US" lang="EN-US"> team (<span
class="MsoHyperlink"><a
href="https://team.inria.fr/mimetic/">team.inria.fr/mimetic/</a></span>)
is
associated with M2S laboratory (Movement, Sport, Health) of
the University of
Rennes 2 is part of the top 200 in the Shanghai ranking of the
best
universities in the </span>fi<span
style="mso-ansi-language:EN-US" lang="EN-US">eld
of sports sciences. MimeTIC promotes a multidisciplinary
approach based on
computer simulation and motion analysis, in order to better
analyze and
simulate human motion. MimeTIC can rely on an exceptional
ImmerMove platform that
includes a virtual reality room (12x4x4 m) and a sports hall
(30x20x10 m)
dedicated exclusively to the analysis of human movement. This
platform includes
various human motion capture systems, external force
evaluation and
electromyographic systems. MimeTIC has a long experience in
human motion
simulation using various approaches developed in the computer
animation domain.
MimeTIC also develops an expertise in musculoskeletal analysis
and simulation
using nonlinear optimization.</span></p>
<p class="MsoNormal"><b style="mso-bidi-font-weight:normal">CNRS/LAAS</b>
(<a class="moz-txt-link-abbreviated" href="http://www.laas.fr">www.laas.fr</a>).
<span style="font-family:"Times New
Roman",serif;mso-fareast-font-family:
"Times New
Roman";color:black;mso-themecolor:text1;mso-ansi-language:EN-CA"
lang="EN-CA">The
Laboratory for Analysis and Architecture of Systems, LAAS, of
Toulouse, has a
long experience in human movement analysis, humanoid robot
motion planning and
control. In 2000, it gave rise to the start-up Kineo CAM
devoted to motion
generation for virtual prototyping. Gepetto team research aims
to model,
understand and generate anthropomorphic movements for humanoid
robots, virtual
mannequins and human beings. This implies a research at the
crossing of
robotics, automatics and control, biomechanics and
neurosciences, integrated
toward the production of algorithms for motion and action
modelling. The team
is recognized as a world leader of anthropomorphic motion
generation and
humanoid robotics. LAAS has developed HPP and Pinocchio,
software development
tools dedicated to motion planning and control for complex
redundant robots.
Many original results have been experimentally validated on
the several
platforms of the laboratory (humanoid robot HRP-2, Romeo and
Pyrene).
LAAS-Gepetto was engaged in several FP7 and H2020 european
projects </span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-CA"
lang="EN-CA"> </span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">The PhD
will mainly take place in MimeTIC in Rennes, in Inria
building. The recruited
PhD will have a laptop and an office in Inria, with all the
facilities proposed
by this institute. A long stay (one year) in CNRS/LAAS in
Toulouse is expected during
the three years of the PhD to practice optimal control and DDP
(differential
dynamic Programming) . The recruited PhD will participate in
the meetings and
joint works of the national HoBis project. A budget is
dedicated to travels and
publication fees to encourage scientific publications all
along the PhD. </span></p>
<h1><span style="mso-ansi-language:EN-US" lang="EN-US">Description
of the
expecting work </span></h1>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">The
recruited person will have to propose a new framework to
simulate plausible
locomotion based on anatomical descriptions. Previous works in
computer
animation [Multon1999] proposed to address this problem as a
motion retargeting
problem [Gleicher1998, Kulpa2005]: adapting the trajectories
of a character to
another one with different morphologies. This approach is
mainly based on
solving kinematic constraints to ensure non-sliding foot
contact with the ground,
or ensure static balance. However, it does not enable to
simulate totally new
motion that correspond to a given anatomical description. To
tackle this
problem, other works proposed to model gait kinematics as a
parametric
mathematical function, and use non-linear optimization to
calculate plausible
locomotion for simplified anatomical models [Nicolas 2008,
Nicolas2009].
However all these approaches based on computing kinematic
trajectories fail to
ensure the physical realism of the resulting motion. </span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">An
alternative consists in modeling bipedal gait as a sequence of
states (single,
double stances…) and to design controller to drive a physical
model based on
the anatomical description, plus masses and inertias
[Yin2007]. Although the
result is physically valid, the decomposition into states
strongly influence
the result, which is a too strong constraint for simulating
very new gait
patterns. At LAAS-CNRS [Maldonado 2018, Saab 2011], two ways
are actually used
to simulate a given motion. In a first way named hierarchical
control, the
motion is generated by prioritizing some tasks (i.e: foot
position first and
center of mass trajectory in second for example). In another
way [Costes 2018,
Turpin 2017], optimal control leads to determine whole body
motion by
minimizing a given cost functions (i.e: energy expenditure,
joint torque, …).
In this project we will define which way could be used with
the maximal
efficiency to simulate plausible gait.</span></p>
<p class="MsoNormal"><b style="mso-bidi-font-weight:normal"><span
style="mso-ansi-language:EN-US" lang="EN-US">References</span></b></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">KK Yin, K
Loken, M Van de Panne (2007) Simbicon: Simple biped locomotion
control. ACM
Transactions on Graphics, Volume 26 Issue 3, Article No. 105.
</span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">M. Gleicher
(1998) Retargetting motion to new characters. Proceedings of
ACM Siggraph 1998,
33-42. </span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">F Multon, L
France, MP Cani‐Gascuel, G Debunne (1999) Computer animation
of human walking:
a survey. The journal of visualization and computer animation
10 (1), 39-54</span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">R Kulpa, F
Multon, B Arnaldi (2005) Morphology‐independent representation
of motions for
interactive human‐like animation. Computer Graphics Forum 24
(3), 343-351</span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">G Nicolas,
F Multon, G Berillon, F Marchal (2007) From bone to plausible
bipedal locomotion
using inverse kinematics. Journal of biomechanics 40 (5),
1048-1057</span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">G Nicolas,
F Multon, G Berillon (2009) From bone to plausible bipedal
locomotion. Part II:
Complete motion synthesis for bipedal primates. Journal of
biomechanics 42 (8),
1127-1133</span></p>
<p class="MsoNormal" style="margin-bottom:12.0pt;text-align:left;
line-height:normal;mso-layout-grid-align:none;text-autospace:none"
align="left"><span
style="mso-bidi-font-family:Calibri;mso-bidi-theme-font:minor-latin">Saab
L.,
Mansard N., Keith F., Fourquet J-Y, et Soueres P. 2011. </span><span
style="mso-bidi-font-family:Calibri;mso-bidi-theme-font:minor-latin;
mso-ansi-language:EN-US" lang="EN-US">« Generation of dynamic
motion</span></p>
<p class="MsoNormal" style="margin-bottom:12.0pt;text-align:left;
line-height:normal;mso-layout-grid-align:none;text-autospace:none"
align="left"><span
style="mso-bidi-font-family:Calibri;mso-bidi-theme-font:minor-latin;
mso-ansi-language:EN-US" lang="EN-US">for anthropomorphic
systems under prioritized equality
and inequality constraints ». </span><span
style="mso-bidi-font-family:Calibri;
mso-bidi-theme-font:minor-latin;mso-bidi-font-style:italic">Robotics
and
Automation (ICRA), 2011 IEEE International Conference on</span><span
style="mso-bidi-font-family:Calibri;mso-bidi-theme-font:minor-latin">,
mai,
1091</span><span style="font-family:"Cambria
Math",serif;mso-fareast-font-family:
MS-Mincho;mso-bidi-font-family:"Cambria Math"">‑</span><span
style="mso-bidi-font-family:
Calibri;mso-bidi-theme-font:minor-latin">1096.</span><span
style="mso-bidi-font-family:Calibri;mso-bidi-theme-font:minor-latin;mso-ansi-language:EN-US"
lang="EN-US"></span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">COSTES A., TURPIN
N., VILLEGER D., MORETTO P., WATIER B. (2018) </span><span
class="nlmarticle-title"><span
style="font-size:12.0pt;line-height:
107%;font-family:"Times New
Roman",serif;color:black;mso-themecolor:text1;
mso-ansi-language:EN-GB" lang="EN-GB">Spontaneous change
from seated to standing cycling
position with increasing power is associated with a
minimization of cost
functions. </span></span><span
style="mso-ansi-language:EN-US" lang="EN-US">Journal
of Sports Sciences, Vol. 36(18), pp907-913. Doi : <span
class="MsoHyperlink"><a
href="http://dx.doi.org/10.1080/02640414.2017.1346272">10.1080/02640414.2017.1346272</a></span></span></p>
<p class="MsoNormal"
style="mso-layout-grid-align:none;text-autospace:none"><span
style="mso-ansi-language:EN-US" lang="EN-US">TURPIN N., COSTES
A., MORETTO P.,
WATIER B. (2017) Can muscle coordination explain the advantage
of using the standing
position during intense cycling? Journal of Science and
Medicine in Sport, Vol
20, pp 611-616. Doi: <span class="MsoHyperlink"><a
href="http://dx.doi.org/10.1016/j.jsams.2016.10.019">10.1016/j.jsams.2016.10.019</a></span></span></p>
<p class="MsoNormal"
style="mso-layout-grid-align:none;text-autospace:none"><span
style="mso-ansi-language:EN-US" lang="EN-US">MALDONADO G,
SOUERES P., WATIER B.
(2019) From biomechanics to robotics. STAR book in
Biomechanics of Anthropomorphic
Systems, Springer. <span class="MsoHyperlink"><a
href="https://doi.org/10.1007/978-3-319-93870-7_3">10.1007/978-3-319-93870-7_3</a></span></span></p>
<p class="MsoNormal"
style="mso-layout-grid-align:none;text-autospace:none"><span
style="mso-ansi-language:EN-US" lang="EN-US">MALDONADO G,
BAILLY F., SOUERES P.,
WATIER B. (2018) </span><span style="mso-ansi-language:EN-GB;
mso-bidi-font-weight:bold" lang="EN-GB">An extension of the
Uncontrolled Manifold theory to
dynamic movements: application to take-off and landing motions
in parkour. </span><span
style="mso-ansi-language:EN-US;mso-bidi-font-weight:bold"
lang="EN-US">Scientific
Report, Vol 20, Article number 12219. Doi: </span><span
class="MsoHyperlink"><span style="mso-ansi-language:EN-US"
lang="EN-US"><a
href="http://dx.doi.org/10.1038/s41598-018-30681-6">10.1038/s41598-018-30681-6</a></span></span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US"> </span></p>
<h1><span style="mso-ansi-language:EN-US" lang="EN-US">Skills</span></h1>
<p class="MsoNormal"><b style="mso-bidi-font-weight:normal"><span
style="mso-ansi-language:EN-US" lang="EN-US">Degree: </span></b><span
style="mso-ansi-language:EN-US" lang="EN-US">Master degree or
engineer school in computer
simulation, computer sciences, robotics, or biomechanics</span></p>
<p class="MsoNormal"><b style="mso-bidi-font-weight:normal"><span
style="mso-ansi-language:EN-US" lang="EN-US">Technical
skills and level required:</span></b></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">• Computer
sciences, and especially computer simulation would be an
advantage (Matlab, C++,
Python)</span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">• Applied
mathematics, especially nonlinear optimization</span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">• Skills in
(bio)mechanics and physics would be a plus</span></p>
<p class="MsoNormal"><b style="mso-bidi-font-weight:normal"><span
style="mso-ansi-language:EN-US" lang="EN-US">Languages :</span></b><span
style="mso-ansi-language:EN-US" lang="EN-US"> English with
good practice would be an
advantage</span></p>
<p class="MsoNormal"><b style="mso-bidi-font-weight:normal"><span
style="mso-ansi-language:EN-US" lang="EN-US">Relational
skills:</span></b><span style="mso-ansi-language:EN-US"
lang="EN-US"> work in a group of scientist, dynamic,
curious, interested in both simulation, robotics, human
motion, software
development and experimental set-ups.</span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">Contacts:</span></p>
<p class="MsoNormal"><span style="mso-ansi-language:EN-US"
lang="EN-US">Franck
Multon, MimeTIC, <span class="MsoHyperlink"><a
href="mailto:fmulton@irisa.fr">fmulton@irisa.fr</a></span>
</span></p>
<p class="MsoNormal">Bruno Watier, CNRS-LAAS, <span
class="MsoHyperlink"><a href="mailto:bruno.watier@laas.fr">bruno.watier@laas.fr</a></span>
</p>
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<pre class="moz-signature" cols="72">--
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MULTON Franck
Professor, University of Rennes 2
Inria
Leader of MimeTIC team (University of Rennes2, INRIA, ENS Rennes, University of Rennes1, CNRS)
M2S Research Unit
ENS Rennes
Campus de Ker lann, Avenue Robert Schuman, 35170 Bruz - FRANCE
web : <a class="moz-txt-link-freetext" href="http://www.m2slab.com">http://www.m2slab.com</a>
tel : +33 631646357
fax : +33 299847100
mail : <a class="moz-txt-link-abbreviated" href="mailto:fmulton@irisa.fr">fmulton@irisa.fr</a>
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