OPTIMAL CONTROL MODELS OF GOAL-ORIENTED HUMAN LOCOMOTION

摘要

In recent papers it has been suggested that human locomotion may be modeled as aninverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of anoptimal control problem that has to be determined. We discuss the modeling of both the dynamicalsystem and the cost to be minimized, and we analyze the corresponding optimal synthesis. Themain results describe the asymptotic behavior of the optimal trajectories as the target point goes toinfinity.