Recursive Dynamics and Optimal Control Techniques for Human Motion Planning

  title={Recursive Dynamics and Optimal Control Techniques for Human Motion Planning},
  author={Janzen Lo and Dimitris N. Metaxas},
We present an e cient optimal control based approach to simulate dynamically correct human movements. We model virtual humans as a kinematic chain consisting of serial, closed-loop, and tree-structures. To overcome the complexity limitations of the classical Lagrangian formulation and to include knowledge from biomechanical studies, we have developed a minimumtorque motion planning method. This new method is based on the use of optimal control theory within a recursive dynamics framework. Our… CONTINUE READING
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