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Published in:
2017 | OriginalPaper | Chapter
Analysis of Optimal Control Problem Formulations in Skeletal Movement Predictions
Authors : Gil Serrancolí, Joris De Schutter, Friedl De Groote
Published in: Converging Clinical and Engineering Research on Neurorehabilitation II
Publisher: Springer International Publishing
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Abstract
Predictions of human movements to study control strategies or to investigate human-orthosis interaction require the solution of the kinematic redundancy by solving a dynamic optimization problem. Direct collocation is a promising method to solve these problems. However, the convergence of collocation methods is sensitive to problem formulation. We therefore compare different optimal control problem formulations to predict the motion of a planar two-link model with foot-ground contact. The use of implicit dynamic formulations minimizing accelerations or jerks facilitated the convergence over other formulations. The use of automatic differentiation and an appropriate time scale had a large influence on computation time.