PREDICTING SEGMENT TRAJECTORIES OF A LOCOMOTION MODEL BY A SUBOPTIMAL CONTROL ALGORITHM.

M. L. Nagurka, V. Yen

Research output: Contribution to journalConference articlepeer-review

Abstract

This research focuses on an optimal control approach to simulate limb segment motions of a planar mechanical walking model. In this approach the optimal segment motions are a function of a performance index (such as mechanical energy) which is minimized and physically-based system constraints which must be satisfied. A Fourier-based approximation technique is applied to convert the optimal control problem into a nonlinear programming problem which can be solved using well-developed optimization algorithms. The set of nonlinear algebraic equations subject to constraints is solved for the suboptimal histories of joint angles, velocities, accelerations, and torques. By investigating different performance indices and comparing the resulting motion histories with human walking data, the approach can be used to study strategies that humans use in selecting dynamic patterns of limb motions during locomotion.

Original languageEnglish
Pages (from-to)361-364
Number of pages4
JournalAmerican Society of Mechanical Engineers, Applied Mechanics Division, AMD
Volume84
StatePublished - 1 Jan 1987
Externally publishedYes

ASJC Scopus subject areas

  • Mechanical Engineering

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