Inverse Optimal Control for Humanoid Locomotion

From human to humanoid locomotion - an inverse optimal control approach

The purpose of this paper is to present inverse optimal control as a promising approach to transfer biological motions to robots. Inverse optimal control helps (a) to understand and identify the underlying optimality criteria of biological motions based on measurements, and (b) to establish optimal control models that can be used to control robot motion. The aim of inverse optimal control probl...

An Inverse Optimal Control Approach for the Transfer of Human Walking Motions in Constrained Environment to Humanoid Robots

In this paper we present an inverse optimal control based transfer of motions from human experiments to humanoid robots and apply it to walking in constrained environments. To this end we introduce a 3D template model, which describes motion on the basis of center of mass trajectory, foot trajectories, upper body orientation and phase duration. Despite of its abstract architecture with prismati...

Biorobotic Locomotion: Biped Humanoid Walking using Optimal Control

Inverse dynamics with optimal distribution of ground reaction forces for legged robots

The control of the interaction of legged robots with their environment is of crucial importance in the design of locomotion controllers. We need to control the effects of the robots movement on the contact reaction forces to prevent slipping, for example. In this contribution, we extend a recent inverse dynamics algorithm for floating base robots to optimize the distribution of contact forces w...

An Optimal Control-Based Formulation to Determine Natural Locomotor Paths for Humanoid Robots

In this paper we explore the underlying principles of natural locomotion path generation of human beings. The knowledge of these principles is useful to implement biologically inspired path planning algorithms on a humanoid robot. By ‘locomotion path’ we denote the motion of the robot as a whole in the plane. The key to our approach is to formulate the path planning problem as an optimal contro...