A solution method for predictive simulations in a stochastic environment

Koelewijn A, van den Bogert AJ (2020)

Publication Type: Journal article

Publication year: 2020


Article Number: 109759

DOI: 10.1016/j.jbiomech.2020.109759


Predictive gait simulations currently do not account for environmental or internal noise. We describe a method to solve predictive simulations of human movements in a stochastic environment using a collocation method. The optimization is performed over multiple noisy episodes of the trajectory, instead of a single episode in a deterministic environment. Each episode used the same control parameters. The method was verified on a torque-driven pendulum swing-up problem. A different optimal trajectory was found in a stochastic environment than in the deterministic environment. Next, it was applied to gait to show its application in predictive simulation of human movement. We show that, unlike in a deterministic model, a nonzero minimum foot clearance during swing is predicted by a minimum-effort criterion in a stochastic environment. The predicted amount of foot clearance increased with the noise amplitude.

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Koelewijn, A., & van den Bogert, A.J. (2020). A solution method for predictive simulations in a stochastic environment. Journal of Biomechanics. https://dx.doi.org/10.1016/j.jbiomech.2020.109759


Koelewijn, Anne, and Antonie J. van den Bogert. "A solution method for predictive simulations in a stochastic environment." Journal of Biomechanics (2020).

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