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 Volume 32 Issue 6 Page 773-779 published_at 2002
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Title ( eng )
Bio-Mimetic Trajectory Generation Based on Human Arm Movements With a Nonholonomic Constraint
Creator
Tanaka Yoshiyuki
Kaneko Makoto
Source Title
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
Volume 32
Issue 6
Start Page 773
End Page 779
Abstract
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.
Keywords
Human movements
nonholonomic constraints
time base generator (TBG)
trajectory generation
NDC
Mechanical engineering [ 530 ]
Language
eng
Resource Type journal article
Publisher
IEEE
Date of Issued 2002
Rights
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.
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 1083-4427
[DOI] 10.1109/TSMCA.2002.807031
[DOI] http://dx.doi.org/10.1109/TSMCA.2002.807031