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Inverse Optimal Control for Multiphase Cost Functions.
- Source :
-
IEEE Transactions on Robotics . Dec2019, Vol. 35 Issue 6, p1387-1398. 12p. - Publication Year :
- 2019
-
Abstract
- In this paper, we consider a dynamical system whose trajectory is a result of minimizing a multiphase cost function. The multiphase cost function is assumed to be a weighted sum of specified features (or basis functions) with phase-dependent weights that switch at some unknown phase transition points. A new inverse optimal control approach for recovering the cost weights of each phase and estimating the phase transition points is proposed. The key idea is to use a length-adapted window moving along the observed trajectory, where the window length is determined by finding the minimal observation length that suffices for a successful cost weight recovery. The effectiveness of the proposed method is first evaluated on a simulated robot arm, and then, demonstrated on a dataset of human participants performing a series of squatting tasks. The results demonstrate that the proposed method reliably retrieves the cost function of each phase and segments each phase of motion from the trajectory with a segmentation accuracy above 90%. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 15523098
- Volume :
- 35
- Issue :
- 6
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Robotics
- Publication Type :
- Academic Journal
- Accession number :
- 140253175
- Full Text :
- https://doi.org/10.1109/TRO.2019.2926388