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On the Relevance of Common Humanoid Gait Generation Strategies in Human Locomotion: An Inverse Optimal Control Approach

In: Modeling, Simulation and Optimization of Complex Processes HPSC 2015

Author

Listed:
  • Debora Clever

    (Universität Heidelberg, IWR, AG Optimization in Robotics and Biomechanics)

  • Katja Mombaur

    (Universität Heidelberg, IWR, AG Optimization in Robotics and Biomechanics)

Abstract

We formulate and solve an inverse optimal control problem that allows us to study human gait based on motion capture data and a template model that is defined by a simple mechanical model of walking with two elastic legs. To this end we derive an optimal control model that consists of two parts: a three-dimensional template walker and an objective, defined by a linear combination of physically meaningful optimization criteria known from humanoid robotics. Based on a direct all-at-once approach we identify the objective weights such that the resulting optimal gait fits real human motion data as closely as possible. Considering knee actuation, foot placement and phase duration as controls we identify the optimal weights for six different trials on level ground from two very different subjects. In future work the identified criteria will be used to simulate optimized human gait and to generate reference trajectories for humanoid gait control.

Suggested Citation

  • Debora Clever & Katja Mombaur, 2017. "On the Relevance of Common Humanoid Gait Generation Strategies in Human Locomotion: An Inverse Optimal Control Approach," Springer Books, in: Hans Georg Bock & Hoang Xuan Phu & Rolf Rannacher & Johannes P. Schlöder (ed.), Modeling, Simulation and Optimization of Complex Processes HPSC 2015, pages 27-40, Springer.
    • Handle: RePEc:spr:sprchp:978-3-319-67168-0_3
    DOI: 10.1007/978-3-319-67168-0_3
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