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2017 | OriginalPaper | Chapter

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

Authors : Debora Clever, Katja Mombaur

Published in: Modeling, Simulation and Optimization of Complex Processes HPSC 2015

Publisher: Springer International Publishing

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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.

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Metadata
Title
On the Relevance of Common Humanoid Gait Generation Strategies in Human Locomotion: An Inverse Optimal Control Approach
Authors
Debora Clever
Katja Mombaur
Copyright Year
2017
Book
Modeling, Simulation and Optimization of Complex Processes HPSC 2015

Print ISBN: 978-3-319-67167-3

Electronic ISBN: 978-3-319-67168-0

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-67168-0_3

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