TY - JOUR
T1 - Comments on "an optimality principle governing human walking"
AU - Bretl, T.
AU - Arechavaleta, G.
AU - Akce, A.
AU - Laumond, J. P.
N1 - Funding Information:
Manuscript received August 18, 2010; revised September 22, 2010; accepted September 24, 2010. Date of publication November 9, 2010; date of current version December 8, 2010. This work was supported by the National Science Foundation under Grant 0931871, Grant 0956362, and Grant 0955088. This paper was recommended for publication by Editor K. Lynch upon evaluation of the reviewers’ comments.
PY - 2010/12
Y1 - 2010/12
N2 - The paper in question [G. Arechavaleta, J. P. Laumond, H. Hicheur, and A. Berthoz, An optimality principle governing human walking, IEEE Trans. Robot., vol. 24, no. 1, pp. 514, Feb. 2008] suggested that human-walking paths minimize variation in curvature and hence can be approximated by the solution to an optimal control problem. This conclusion was reached by analysis of experimental data based on the maximum principle. We correct two errors in this analysis and consider their consequences.
AB - The paper in question [G. Arechavaleta, J. P. Laumond, H. Hicheur, and A. Berthoz, An optimality principle governing human walking, IEEE Trans. Robot., vol. 24, no. 1, pp. 514, Feb. 2008] suggested that human-walking paths minimize variation in curvature and hence can be approximated by the solution to an optimal control problem. This conclusion was reached by analysis of experimental data based on the maximum principle. We correct two errors in this analysis and consider their consequences.
KW - Biological system modeling
KW - humanoid robots
KW - optimal control
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U2 - 10.1109/TRO.2010.2082110
DO - 10.1109/TRO.2010.2082110
M3 - Article
AN - SCOPUS:78650056158
SN - 1552-3098
VL - 26
SP - 1105
EP - 1106
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 6
M1 - 5624646
ER -