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Inverse Optimal Control as a Tool to Understand Human Movement

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Geometric and Numerical Foundations of Movements

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 117))

Abstract

In this paper, we discuss numerical foundations and computational results for inverse optimal control of human locomotion based on human motion capture data. The task of inverse optimal control is to identify the precise underlying objective function that is optimized in an observed motion. The presented methods can cope with partial and imprecise measurements of the state variables which is typically the case for motion capture recordings. We investigate human walking and running motions on different levels of detail and consequently different underlying models which all have their own motivation depending on the question asked. Whole-body models are used to explore the mechanisms of motions on joint level, while simple models describing the subject as a single entity can be used to describe overall locomotion behavior. At an intermediate level, template models describe some relative motions of bodies while maintaining simplicity and computational efficiency. Results will be presented for all model types and different walking tasks. We also show for some of them how the identified objective functions can be used to generate new waking motions for humanoid robots in novel scenarios.

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Acknowledgements

The research leading to these results has received funding from the EU seventh Framework Program (FP7/2007-2013) under grant agreement no 611909 (KoroiBot), the German Excellence Initiative and the French ANR project Locanthrope. We thank the Simulation and Optimization group of H.G. Bock at Heidelberg University for providing the optimal control code Muscod-II.

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Authors and Affiliations

  1. ORB, IWR, Heidelberg University, Berliner Str. 45, 69120, Heidelberg, Germany

    Katja Mombaur & Debora Clever

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  1. Katja Mombaur
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  2. Debora Clever
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Correspondence to Katja Mombaur .

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  1. LAAS-CNRS , Toulouse, France

    Jean-Paul Laumond

  2. LAAS-CNRS , Toulouse, France

    Nicolas Mansard

  3. LAAS-CNRS , Toulouse, France

    Jean-Bernard Lasserre

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Mombaur, K., Clever, D. (2017). Inverse Optimal Control as a Tool to Understand Human Movement. In: Laumond, JP., Mansard, N., Lasserre, JB. (eds) Geometric and Numerical Foundations of Movements . Springer Tracts in Advanced Robotics, vol 117. Springer, Cham. https://doi.org/10.1007/978-3-319-51547-2_8

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  • DOI: https://doi.org/10.1007/978-3-319-51547-2_8

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