Constrained Inverse Optimal Control with Application to a Human Manipulation Task

This paper presents an inverse optimal control methodology and its application to training a predictive model of human motor control from a manipulation task. It introduces a convex formulation for learning both objective function and constraints of an infinite-horizon constrained optimal control pr...

Full description

Saved in:
Bibliographic Details
Published in:arXiv.org 2019-12
Main Authors: Menner, Marcel, Worsnop, Peter, Zeilinger, Melanie N
Format: Article
Language:English
Subjects:
Constraints
Economic models
Horizon
Human motion
Lagrange multiplier
Mathematical models
Nonlinear control
Nonlinear systems
Optimal control
Optimization
Predictive control
System dynamics
Training
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents an inverse optimal control methodology and its application to training a predictive model of human motor control from a manipulation task. It introduces a convex formulation for learning both objective function and constraints of an infinite-horizon constrained optimal control problem with nonlinear system dynamics. The inverse approach utilizes Bellman's principle of optimality to formulate the infinite-horizon optimal control problem as a shortest path problem and Lagrange multipliers to identify constraints. We highlight the key benefit of using the shortest path formulation, i.e., the possibility of training the predictive model with short and selected trajectory segments. The method is applied to training a predictive model of movements of a human subject from a manipulation task. The study indicates that individual human movements can be predicted with low error using an infinite-horizon optimal control problem with constraints on shoulder movement.
ISSN:2331-8422
DOI:10.48550/arxiv.1812.11600