ITERATIVE LINEAR QUADRATIC REGULATOR DESIGN FOR NONLINEAR BIOLOGICAL MOVEMENT SYSTEMS

Weiwei Li, Emanuel Todorov

2004

Abstract

This paper presents an Iterative Linear Quadratic Regulator (ILQR) method for locally-optimal feedback control of nonlinear dynamical systems. The method is applied to a musculo-skeletal arm model with 10 state dimensions and 6 controls, and is used to compute energy-optimal reaching movements. Numerical comparisons with three existing methods demonstrate that the new method converges substantially faster and finds slightly better solutions.

Paper Citation

in Harvard Style

Li W. and Todorov E. (2004). ITERATIVE LINEAR QUADRATIC REGULATOR DESIGN FOR NONLINEAR BIOLOGICAL MOVEMENT SYSTEMS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-12-0, pages 222-229. DOI: 10.5220/0001143902220229

in Bibtex Style

@conference{icinco04,
author={Weiwei Li and Emanuel Todorov},
title={ITERATIVE LINEAR QUADRATIC REGULATOR DESIGN FOR NONLINEAR BIOLOGICAL MOVEMENT SYSTEMS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2004},
pages={222-229},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001143902220229},
isbn={972-8865-12-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - ITERATIVE LINEAR QUADRATIC REGULATOR DESIGN FOR NONLINEAR BIOLOGICAL MOVEMENT SYSTEMS
SN - 972-8865-12-0
AU - Li W.
AU - Todorov E.
PY - 2004
SP - 222
EP - 229
DO - 10.5220/0001143902220229