Abstract Inverse optimal control (IOC) is a framework used in many fields, especially in robotics and human motion analysis. In this context, many methods of resolution have been proposed in the literature. This article presents the Projected Inverse Optimal Control (PIOC), an approach that puts forward a simple and comprehensive view of IOC methods. Especially, we explain how the presence of uncertainties can be properly addressed in our view. Thus, this article highlights how classical methods can be understood as projections of trajectories in the solution space of the underlying Direct Optimal Control (DOC) problem.
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Jessica Colombel, PhD student, works here on human motion capture.
Assistance or collaborative robots aim to preserve the health and well-being of people, in particular by promoting interactions during phases of fragility. There are many ways to interact with robots, but this project only focus on human motion. The goal of the BioMotion project is to find the modalities of representation of movement allowing to extract physical and cognitive information.
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Research | Scholar google | Publications in Hal | Keywords: Robotics, Human Motion Analysis, Inverse Optimal Control, Human-robot Interaction My publications
Journal articles 24 documents Conference papers 24 documents Preprints 24 documents Thesis 24 documents Reports 24 documents Book chapters 24 documents Patents 24 documents Related topics #jcolombe ICRA submission 2023 : Holistic view of Inverse Optimal Control Posted on September 26, 2022 | Auctus Abstract Inverse optimal control (IOC) is a framework used in many fields, especially in robotics and human motion analysis.
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