Journal of Mathematical Sciences

, Volume 195, Issue 3, pp 269–287 | Cite as

On Inverse Optimal Control Problems of Human Locomotion: Stability and Robustness of the Minimizers

  • F. C. ChittaroEmail author
  • F. Jean
  • P. Mason


In recent papers, models of human locomotion by means of optimal control problems have been proposed. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem whose cost has to be determined. The purpose of the present paper is to analyze the class of optimal control problems defined in this way. We prove strong convergence results for their solutions, on the one hand, for perturbations of the initial and final points (stability), and, on the other hand, for perturbations of the cost (robustness).


Optimal Control Problem Uniform Convergence Linear Matrix Inequality Optimal Trajectory Humanoid Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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© Springer Science+Business Media New York 2013

Authors and Affiliations

  1. 1.Laboratoire des Signaux et SystèmesGif-sur-YvetteFrance
  2. 2.ENSTA ParisTechParisFrance
  3. 3.Team GECO, INRIA Saclay — Île-de-FranceParisFrance

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