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Optimal control of monopedal jumping movements
Author(s) -
Koch Michael W.,
Leyendecker Sigrid
Publication year - 2013
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201310267
Subject(s) - optimal control , computation , correctness , control theory (sociology) , penalty method , mathematics , computer science , mathematical optimization , control (management) , algorithm , artificial intelligence
The optimal control of human locomotion requires simulation techniques which handle the contact's establishing and releasing between the foot and the ground. The investigated contact formulation covers the theory of perfectly plastic contacts, which means, that during the contact phase the foot is fixed at the ground by a spherical joint. The optimal control problem is solved by a direct transcription method transforming it into a constrained optimisation problem. The applied mechanical integrator is based on a discrete constrained version of the Lagrange‐d'Alembert principle, which yields a symplectic momentum preserving method. To guarantee the structure preservation and the geometrical correctness, we solve the non‐smooth problem including the computation of the contact configuration, time and force, in contrast to relying on a smooth approximation of the contact problem via a penalty potential. (© 2013 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)