Analysis of optimal control models for the human locomotion

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.

• Type: Journal
• Year: 2010
• Where: CDC
• Authors: Yacine Chitour, Francesca C. Chittaro, Frédéric Jean, Paolo Mason
• Keywords: CDC 2010, Control Systems, Corresponding Optimal Synthesis, Inverse Optimal Control, Optimal Control Problem