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 analyse the corresponding optimal synthesis. The main results describe the asymptotic behavior of the optimal trajectories as the target point goes to infinity. ©2010 IEEE.
Analysis of optimal control models for the human locomotion / Chitour, Y; Jean, F; Mason, P; Chittaro, F. C.. - (2010), pp. 3415-3420. ( 49th IEEE Conference on Decision and Control, CDC 2010 Atlanta (USA) 15-17 dicembre 2010) [10.1109/CDC.2010.5717396].
Analysis of optimal control models for the human locomotion
CHITTARO F. C.
2010-01-01
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 analyse the corresponding optimal synthesis. The main results describe the asymptotic behavior of the optimal trajectories as the target point goes to infinity. ©2010 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione
