Motion Optimization for Musculoskeletal Dynamics: A Flatness-Based Polynomial Approach

  title={Motion Optimization for Musculoskeletal Dynamics: A Flatness-Based Polynomial Approach},
  author={Hanz Richter and Holly Warner},
  journal={IEEE Transactions on Automatic Control},
A new approach for trajectory optimization of musculoskeletal dynamic models is introduced. The model combines rigid-body and muscle dynamics described with a Hill-type model driven by neural control inputs. The objective is to find input and state trajectories that are optimal with respect to a minimum-effort objective and meet constraints associated with musculoskeletal models. The measure of effort is given by the integral of pairwise average forces of the agonist-antagonist muscles. The… 

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