Studies of human locomotion via optimal programming

Chow, CC; Jacobson, D. H.

doi:10.1016/0025-5564(71)90062-9

Cited by 207 publications

(75 citation statements)

References 24 publications

(14 reference statements)

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“…There are several advantages to the analytic solution proposed in this paper, as compared to earlier work [9], [18], [34], [98]. We avoid approximate solutions as well as exact solutions based on approximate models which may exhibit severe degradation of closed-loop control performance as compared to optimal control.…”

Section: Discussionmentioning

confidence: 99%

“…A small change of system parameters typically results in a severe degradation of performance as compared to optimal conditions. Approximations involved in the linearized or approximated models [18] as well as approximate solutions [85] to the exact problem make from the point of view of parameter uncertainty such optimal control error-prone in nonideal situations. The analytic solution of this paper avoids such problems and is valid also for transient motion with velocities and positions away from particular equilibrium points.…”

Section: Discussionmentioning

confidence: 99%

“…Previously, optimal allocation of forces in redundant biomechanics was studied with respect to task-posture decomposition [60,89]; and coordination in posture and locomotion [41,40,18,19]. The coordination of muscular forces may be considered either at the level of muscular activations or at the level of joint torques.…”

Section: Discussionmentioning

confidence: 99%

“…In early literature on postural control, the presence of biological optimization criteria was postulated [18], [9]. The linear optimal control solutions thus derived relied on linearized (approximate) equations with regard to a given operating point.…”

Section: Introductionmentioning

confidence: 99%

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Optimal coordination and control of posture and movements

Johansson

Fransson

Magnusson

2009

Journal of Physiology-Paris

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This paper presents a theoretical model of stability and coordination of posture and locomotion, together with algorithms for continuous-time quadratic optimization of motion control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are obtained by solving an algebraic matrix equation. The stability is investigated with Lyapunov function theory and it is shown that global asymptotic stability holds. It is also shown how optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters. The solution describes motion strategies of minimum effort and variance. The proposed optimal control is formulated to be suitable as a posture and movement model for experimental validation and verification. The combination of adaptive and optimal control makes this algorithm a candidate for coordination and control of functional neuromuscular stimulation as well as of prostheses. Validation examples with experimental data are provided.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Optimal coordination and control of posture and movements

Johansson

Fransson

Magnusson

2009

Journal of Physiology-Paris

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“…Since the results of every numerical optimization should be treated with great caution, it is an important contribution of this work to compare them to analytical considerations about the structure of optimal solutions. This idea of using optimization to generate motor inputs for legged systems (both in biology and robotics) has been established for quite some time [11], [12]. See [13] (citations 17-27) for a comprehensive overview.…”

Section: Introductionmentioning

confidence: 99%

Comparison of cost functions for electrically driven running robots

Remy

Buffinton

Siegwart

2012

2012 IEEE International Conference on Robotics and Automation

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Abstract-In this work we apply optimal control to create running gaits for the model of an electrically driven one legged hopper, and compare the results obtained for five different objective functions. By using high compliant series elastic actuators, the motions of joint and motor are decoupled, which allows the exploitation of natural dynamics.Depending on the cost function, this exploitation varies. Energy is injected at different points of time, the amplitude of actuator action changes significantly, and the optimal gear ratios differ by a factor of two. Variations are, however, comparable over a wide range of hopping heights and running velocities. Purely force-based cost functions prove to be ill-suited for such non-conservative systems, and it is shown that thermal electrical losses, in contrast to common belief, do not dominate energy expenditure. The numerical results are corroborated by detailed analytical considerations which give general insights into optimal excitation with electric actuators.

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Biomechanical Insights into Neural Control of Movement

Zernicke

Smith

1996

Comprehensive Physiology

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The sections in this article are: Analytical Techniques and Terms Biomechanics Terminology Dynamics Variables Single vs. Multiple Degrees of Freedom Free‐Body Diagram Dynamics Techniques Insights from Inverse Dynamics Equations of Motion Anthropometric Data Predictions Using an Inverse Dynamics Model Control of Different Locomotion Forms Swing‐Phase Dynamics Stance‐Phase Dynamics Insights for Neural Control of Locomotion Role of Dynamics in the Control of Arm Movements Limb Postural Dynamics Intersegmental Dynamics Change with Practice Changes in Limb Dynamics During Development Spontaneous Kicking Behaviors Acquisition of Reaching Concluding Remarks

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Studies of human locomotion via optimal programming

Cited by 207 publications

References 24 publications

Optimal coordination and control of posture and movements

Optimal coordination and control of posture and movements

Comparison of cost functions for electrically driven running robots

Biomechanical Insights into Neural Control of Movement

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