Lee, SeunghwanMitchell, NathanAanjaneya, MridulSifakis, EftychiosLee, JeheeBernhard Thomaszewski and KangKang Yin and Rahul Narain2017-12-312017-12-312017978-1-4503-5091-4https://doi.org/10.1145/3099564.3106646https://diglib.eg.org:443/handle/10.1145/3099564-3106646We describe a controller with a fully integrated musculoskeletal model actuated by more than a hundred muscles. Inspired by a QP-based control algorithm, we improved the algorithm to control the volumetric muscles directly. Furthermore, the highly-detailed musculoskeleton was modeled using a non-manifold method and a computation time was e ectively reduced through implicit jacobian computation. Our entire system can simulate the musculoskeleton model with detailed volumetric muscles in a feasible computation time.Computing methodologies Physical simulationBiomechanicsMusculoskeletal system10.1145/3099564.3106646Seunghwan Lee, Nathan Mitchell, Mridul Aanjaneya, Eftychios Sifakis, and Jehee Lee-Computing methodologies Physical simulation; Biomechanics, Musculoskeletal system