Bio-Mimetic Trajectory Generation Based on Human Arm Movements With a Nonholonomic Constraint
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans 32 巻 6 号
773-779 頁
2002 発行
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| ファイル情報(添付) | |
| タイトル ( eng ) |
Bio-Mimetic Trajectory Generation Based on Human Arm Movements With a Nonholonomic Constraint
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| 作成者 |
Tanaka Yoshiyuki
Kaneko Makoto
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| 収録物名 |
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
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| 巻 | 32 |
| 号 | 6 |
| 開始ページ | 773 |
| 終了ページ | 779 |
| 抄録 |
In this paper, a bio-mimetic trajectory of robots for manipulatinga nonholonomic car is generated with a time base generator (TBG).In order to reveal what kind of trajectories the robots should generatefor the given task, experiments with human subjects were performed. Ithas been shown that a human generates the trajectory with a single- ordouble-peaked velocity profile according to the geometrical conditions ofthe car. Then, bio-mimetic trajectories were generated by modeling the observedprimitive profiles with the TBG and also compared with the humantrajectories.
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| 著者キーワード |
Human movements
nonholonomic constraints
time base generator (TBG)
trajectory generation
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| NDC分類 |
機械工学 [ 530 ]
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| 言語 |
英語
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| 資源タイプ | 学術雑誌論文 |
| 出版者 |
IEEE
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| 発行日 | 2002 |
| 権利情報 |
Copyright (c) 2002 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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| 出版タイプ | Version of Record（出版社版。早期公開を含む） |
| アクセス権 | オープンアクセス |
| 収録物識別子 |
[ISSN] 1083-4427
[DOI] 10.1109/TSMCA.2002.807031
[DOI] http://dx.doi.org/10.1109/TSMCA.2002.807031
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