Using High-Throughput Computing for Dynamic Simulation of Bipedal Walking

Simulation of human bipedal walking through muscle actuation presents an optimization problem with a substantial number of parameters. Calculation of the cost function for this optimization problem, which can be non-differentiable, necessitates significant computational power and resources. In addition, because of the redundant nature of the human musculoskeletal system, the problem is highly prone to getting stuck in local minima. We have developed a routine using Open Science Grid (OSG), an open source high-throughput computing (HTC) resource, to solve this optimization problem effectively. The developed routine utilizes the computation power of the high-throughput computational resources provided by the OSG to have a powerful optimizer, which reduces the problem of getting stuck in local minima.