A convex approach to inverse optimal control and its application to modeling human locomotion

Anne Sophie Puydupin-Jamin, Miles Johnson, Timothy Wolfe Bretl

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Inverse optimal control is the problem of computing a cost function that would have resulted in an observed sequence of decisions. The standard formulation of this problem assumes that decisions are optimal and tries to minimize the difference between what was observed and what would have been observed given a candidate cost function. We assume instead that decisions are only approximately optimal and try to minimize the extent to which observed decisions violate first-order necessary conditions for optimality. For a discrete-time optimal control system with a cost function that is a linear combination of known basis functions, this formulation leads to an efficient method of solution as an unconstrained least-squares problem. We apply this approach to both simulated and experimental data to obtain a simple model of human walking trajectories. This model might subsequently be used either for control of a humanoid robot or for predicting human motion when moving a robot through crowded areas.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages531-536
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Puydupin-Jamin, A. S., Johnson, M., & Bretl, T. W. (2012). A convex approach to inverse optimal control and its application to modeling human locomotion. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 531-536). [6225317] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225317