Optimal control models of goal-oriented human locomotion

DOI10.1137/100799344MaRDI QIDQ2884590zbMATH OpenOpenAlexFDO

Authors Paolo Mason, Yacine Chitour, Frédéric Jean

Publication date 30 May 2012

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1006.3925

zbMATH Keywords

Pontryagin's maximum principlestable manifold theoreminverse optimal controlhuman locomotion

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) Nonlinear systems in control theory (93C10) Optimal feedback synthesis (49N35)

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.

Recommendations

• On inverse optimal control problems of human locomotion: stability and robustness of the minimizers
• An inverse optimal control approach to human motion modeling
• scientific article; zbMATH DE number 1413838
• Mathematical modelling of human walk dynamics in sagittal plane
• Mathematical modeling of human gait based on experimental data

Cited in

(22)

• scientific article; zbMATH DE number 3867113 (Why is no real title available?)
• Optimal coordination and control of posture and locomotion
• Modeling and optimal control of human platform diving with somersaults and twists
• Potential and optimal control of human head movement using Tait-Bryan parametrization
• Keep right or left? Towards a cognitive-mathematical model for pedestrians
• The turnpike property in finite-dimensional nonlinear optimal control
• Optimal human navigation in steep terrain: a Hamilton-Jacobi-Bellman approach
• scientific article; zbMATH DE number 1413838 (Why is no real title available?)
• Goal-oriented state control of a cognitive linear model with a bounded state space
• Movement Duration, Fitts's Law, and an Infinite-Horizon Optimal Feedback Control Model for Biological Motor Systems
• Hamilton-Jacobi-Bellman equation based on fractional random impulses system
• Control of multi-agent systems: results, open problems, and applications
• Game theoretic decentralized feedback controls in Markov jump processes
• An inverse optimal control approach to human motion modeling
• Multitime control strategies for skilled movements
• Mathematical modeling of human gait based on experimental data
• On inverse optimal control problems of human locomotion: stability and robustness of the minimizers
• Optimal speeds for walking and running, and walking on a moving walkway
• Modeling rationality to control self-organization of crowds: an environmental approach
• Mathematical modelling of human walk dynamics in sagittal plane
• scientific article; zbMATH DE number 2154573 (Why is no real title available?)
• Bridging the gap between optimal trajectory planning and safety-critical control with applications to autonomous vehicles

This page was built for publication: Optimal control models of goal-oriented human locomotion

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2884590)