Modeling and Optimal Control of Human-Like Running

By Gerrit Schultz, Katja Daniela Mombaur. IEEE/ASME transactions on mechatronics, 2010

178 citations recorded by the source corpus.

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A direct method for trajectory optimization of rigid bodies through contact (2014, background): “There are a number of impressive success stories for trajectory optimization in these hybrid models, for instance the optimization of a 3D running gait (Schultz and Mombaur, 2010).”
From human to humanoid locomotion—an inverse optimal control approach (2010, methodology): “Based on our previous work on (forward) optimal control of human-like running motions (Schultz and Mombaur 2009; Mombaur 2008) and the multi-body system models developed in this research, we are currently applying inverse optimal control to identify objective functions of different human running…”
Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization (2018, methodology): “This model takes into account changing CoM positions and inertia properties based on leg configurations and Coriolis forces generated by leg motions and has been used by [18]–[21].”
Optimizing Locomotion Controllers Using Biologically-Based Actuators and Objectives (2012, background): “A common substitute is the sum of squared joint torques [Schultz and Mombaur 2010], which does not account for the different effort levels required to generate torques in different joints, directions, and body configurations.”