Title :
Geometric modeling of the movement based on an inverse optimal control approach
Author :
Jean, F. ; Mason, P. ; Chittaro, F.C.
Author_Institution :
ENSTA ParisTech, Palaiseau, France
Abstract :
The present paper analyses a class of optimal control problems on geometric paths of the euclidean space, that is, curves parametrized by arc length. In the first part we deal with existence and robustness issues for such problems and we define the associated inverse optimal control problem. In the second part we discuss the inverse optimal control problem in the special case of planar trajectories and under additional assumptions. More precisely we define a criterion to restrict the study to a convenient class of costs based on the analysis of experimentally recorded trajectories. This method applies in particular to the case of human locomotion trajectories.
Keywords :
curve fitting; geometry; inverse problems; legged locomotion; optimal control; robust control; arc length; curve parametrisation; euclidean space; geometric modeling; geometric path; human locomotion trajectory; inverse optimal control approach; planar trajectory; robustness; Aerospace electronics; Equations; Mathematical model; Optimal control; Robustness; Trajectory;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6760146