OPTIMAL CONTROL MODELS OF GOAL-ORIENTED HUMAN LOCOMOTION

被引：14
|
作者：
Chitour, Yacine [1 ,2 ]
Jean, Frederic [2 ,3 ]
Mason, Paolo [1 ,2 ]
机构：
[1] Univ Paris 11, Lab Signaux & Syst Supelec L2S, F-91192 Gif Sur Yvette, France
[2] INRIA Saclay Ile d France, Team GECO, Paris, France
[3] ENSTA Paris Tech, UMA, F-75015 Paris, France
来源：
SIAM JOURNAL ON CONTROL AND OPTIMIZATION | 2012年 / 50卷 / 01期
关键词：
human locomotion; inverse optimal control; Pontryagin maximum principle; stable manifold theorem; PRINCIPLE;
D O I：
10.1137/100799344
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：147 / 170
页数：24
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