Abstract: This paper describes a computational method for solving optimal control problems involving large-scale, nonlinear, dynamical systems. Central to the approach is the idea that any optimal control ...

Abstract: To understand how humans perform non-ballistic movements, we have developed an optimal control model to simulate rising from a chair. The human body was modeled as a three-segment, articulated, ...

Abstract: This paper presents a dynamical analysis of quadrupedal locomotion, with specific reference to an adult Nubian goat. Measurements of ground reaction forces and limb motion are used to assess ...

Abstract: We have examined the feasibility of using massively-parallel and vector-processing supercomputers to solve large-scale optimization problems for human movement. Specifically, we compared the computational ...