Séminaire ACSIOM :

Le 02 décembre 2008 à 10:00 - salle 431

Présentée par Bayen Terence - UM2

Study of a nonholonomic system to understand the human locomotion

The aim of this study is to understand the human walking and the geometric shape of locomotor trajectories. A person walking in an empty room from an initial point to a final point has a lot of possible trajectories to do this task. Among these trajectories, one is chosen. Our objective is to predict such a trajectory for potential applications in robotics. We present in this paper a model to describe the goal-oriented locomotion trajectories. The approach that has been chosen is macroscopic and takes advantage of an optimization principle.