Comments on "an optimality principle governing human walking"

T. Bretl, G. Arechavaleta, A. Akce, J. P. Laumond

Research output: Contribution to journalArticlepeer-review


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.

Original languageEnglish (US)
Article number5624646
Pages (from-to)1105-1106
Number of pages2
JournalIEEE Transactions on Robotics
Issue number6
StatePublished - Dec 2010


  • Biological system modeling
  • humanoid robots
  • optimal control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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