Optimal control models of the goal-oriented human locomotion

In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem that has to be determined. We discuss the modeling of both the dynamical system and the cost to be minimized, and we analyze the corresponding optimal synthesis. The main results describe the asymptotic behavior of the optimal trajectories as the target point goes to infinity

Asymptotic analysis of an optimal control problem connected to the human locomotion

International audienceThe article is devoted to the analysis of two optimal control problems. We first consider a model proposed by Arechavaleta et al. (see [3]) describing the goal-oriented locomotion, for which the control on the derivative of the curvature script K̇ along the trajectory is supposed bounded. Necessary conditions on optimal trajectories are given. We then investigate an extension of this model obtained by removing the boundedness assumption on script K. In this framework several properties of the optimal trajectories are detected and in particular we determine an asymptotic behavior of the initial value of the associated covector with respect to the final point