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Free-time optimization of targeted movements based on temporal finite element approximation
KTH, School of Engineering Sciences (SCI), Mechanics.
KTH, School of Engineering Sciences (SCI), Mechanics.
KTH, School of Engineering Sciences (SCI), Mechanics.ORCID iD: 0000-0002-5819-4544
2010 (English)In: Proceedings of the Tenth International Conference on Computational Structures Technology, Civil-Comp Ltd , 2010, Vol. 93Conference paper, Published paper (Refereed)
Abstract [en]

Previous work by the authors has shown that temporal finite element approximations can be used for the representation of targeted optimal control problems, and that a weak equilibrium formulation leads to robust and efficient simulations. A free-time formulation is now introduced to increase the degree of freedom in finding optimal movement. The timescale parameter in relation to the objective function is discussed and verified by numerical examples. For movements with partial contact multiple phases with different mechanical properties are included. The free-time formulation allows these phases to be determined by the optimization. A three-phase two-foot high jump is simulated where the movement optimization finds a prior motion preparing for the subsequent phases with different mechanical properties.

Place, publisher, year, edition, pages
Civil-Comp Ltd , 2010. Vol. 93
Series
Civil-Comp Proceedings, ISSN 1759-3433 ; 93
Keyword [en]
Contacts, Freetime formulation, Human movements, Optimization, Temporal finite elements
National Category
Applied Mechanics
Identifiers
URN: urn:nbn:se:kth:diva-144432Scopus ID: 2-s2.0-84893828498ISBN: 978-190508838-6 (print)OAI: oai:DiVA.org:kth-144432DiVA: diva2:713624
Conference
10th International Conference on Computational Structures Technology, CST 2010; Valencia; Spain; 14 September 2010 through 17 September 2010
Note

QC 20140423

Available from: 2014-04-23 Created: 2014-04-23 Last updated: 2014-08-19Bibliographically approved

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Eriksson, Anders

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  • Other locale
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