Forward and Inverse Optimal Control of Bipedal Running - Université de Rennes Accéder directement au contenu
Chapitre D'ouvrage Année : 2013

Forward and Inverse Optimal Control of Bipedal Running

Résumé

This paper discusses forward and inverse optimal control problems for bipedal human-like running, with a focus on inverse optimal control. The (forward) optimal control problem looks for the optimal solution for a problem formulation, i.e. given objective function and given dynamic constraints. The inverse optimal control problem is more challenging and consists in determining the objective function and potentially unknown parts in the dynamic model that best reproduce a solution that is known from measurements. Periodic running motions are modeled as hybrid dynamic models with multiple phases and discontinuities, based on a three-dimensional multibody system model with 25 degrees of freedom.We investigate a recorded running motion on a treadmill at 10 km/h running speed and identify the best possible objective function based on some hypotheses for potential contributions to this objective function. For this, we apply a previously developed inverse optimal control technique which uses a combination of a direct multiple shooting method and a derivative-free optimization techniqueand we demonstrate here that it also works for problems of the given complexity.

Dates et versions

hal-01159369 , version 1 (03-06-2015)

Identifiants

Citer

Katja Mombaur, Anne-Hélène Olivier, Armel Crétual. Forward and Inverse Optimal Control of Bipedal Running. Modeling, Simulation and Optimization of Bipedal Walking, 18, Springer Berlin Heidelberg, pp.165--179, 2013, Cognitive Systems Monographs, 978-3-642-36368-9. ⟨10.1007/978-3-642-36368-9_13⟩. ⟨hal-01159369⟩
572 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More