Structure preserving optimal control of a 3d-dimensional upright gait

Koch M, Leyendecker S (2015)


Publication Type: Conference contribution

Publication year: 2015

Conference Proceedings Title: Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics

Event location: Barcelona ES

Abstract

The optimal control of human locomotion requires simulation techniques, which handle the contact’s establishing and releasing between the foot and the ground. In this work, our aim is to optimally control the human upright gait using a structure preserving variational integrator, whereby the physiologically motivated cost functions of minimal kinetic energy is chosen and the obtained results are analysed with the gait of humans. Thereby, the three-dimensional rigid multibody system enables us to model forefoot as well as heel contact and its dynamics is simulated using a structure preserving method. The applied mechanical integrator is based on a discrete constrained version of the Lagrange-d’Alembert principle, which yields a symplectic momentum preserving method (see [13] for details). The investigated contact formulation covers the theory of perfectly plastic contacts. To guarantee the structure preservation and the geometrical correctness, the nonsmooth problem is solved including the contact configuration, time and force, in contrast to relying on a smooth approximation of the contact problem via a penalty potential.

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APA:

Koch, M., & Leyendecker, S. (2015). Structure preserving optimal control of a 3d-dimensional upright gait. In Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics. Barcelona, ES.

MLA:

Koch, Michael, and Sigrid Leyendecker. "Structure preserving optimal control of a 3d-dimensional upright gait." Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona 2015.

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