Optimal control models of goal-oriented human locomotion

Yacine Chitour; Frédéric Jean; Paolo Mason

doi:10.1137/100799344

Optimal control models of goal-oriented human locomotion

Yacine Chitour, Frédéric Jean, Paolo Mason

Université Paris-Saclay

Research output: Contribution to journal › Article › peer-review

Abstract

In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem that has to be determined. We discuss the modeling of both the dynamical system and the cost to be minimized, and we analyze the corresponding optimal synthesis. The main results describe the asymptotic behavior of the optimal trajectories as the target point goes to infinity.

Original language	English
Pages (from-to)	147-170
Number of pages	24
Journal	SIAM Journal on Control and Optimization
Volume	50
Issue number	1
DOIs	https://doi.org/10.1137/100799344
Publication status	Published - 26 Mar 2012

Keywords

Human locomotion
Inverse optimal control
Pontryagin maximum principle
Stable manifold theorem

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10.1137/100799344

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abstract = "In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem that has to be determined. We discuss the modeling of both the dynamical system and the cost to be minimized, and we analyze the corresponding optimal synthesis. The main results describe the asymptotic behavior of the optimal trajectories as the target point goes to infinity.",

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AB - In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem that has to be determined. We discuss the modeling of both the dynamical system and the cost to be minimized, and we analyze the corresponding optimal synthesis. The main results describe the asymptotic behavior of the optimal trajectories as the target point goes to infinity.

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KW - Inverse optimal control

KW - Pontryagin maximum principle

KW - Stable manifold theorem

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Optimal control models of goal-oriented human locomotion

Abstract

Keywords

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