Jiacheng Weng

2 accepted papers

2023

Human Gait Cost Function Varies With Walking Speed: An Inverse Optimal Control Study

Jiacheng Weng, Ehsan Hashemi, Arash Arami

RA-L 2023

This work investigates the optimal cost function composition for human gait at different walking speeds. Kinematic and kinetic data for walking at four walking speeds were collected from five individuals without any known disability. The data was then used to recover optimal cost functions in a pred

Cited by 7 Source ↗Scholar ↗

2021

Natural Walking With Musculoskeletal Models Using Deep Reinforcement Learning

Jiacheng Weng, Ehsan Hashemi, Arash Arami

RA-L 2021

Human gait optimality has been investigated recently, with the development of detailed musculoskeletal models, through trajectory optimization approaches or deep reinforcement learning (DRL). Trajectory optimization studies are limited by the trajectory length and can only generate open-loop solutio

Cited by 30 Source ↗Scholar ↗