most citedCovariant formulation for the optimal control of jointed arm robots: an alternative to Pontryagin's principle

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physics.class-ph2009

Energetic Versus Sthenic Optimality Criteria for Gymnastic Movement Synthesis

Fabien Leboeuf, Guy Bessonnet, Pascal Seguin +1

Dynamic synthesis of human movements raises the question of the selection of a suitable performance criterion able to generate proper dynamic behaviors. Two quite different criteri…