Bio-Mimetic Trajectory Generation Based on Human Arm Movements With a Nonholonomic Constraint

Tsuji Toshio

Tanaka Yoshiyuki

Kaneko Makoto

IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans

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.

Human movements

nonholonomic constraints

time base generator (TBG)

trajectory generation

Mechanical engineering [ 530 ]

eng

IEEE

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.

[ISSN] 1083-4427

[DOI] 10.1109/TSMCA.2002.807031

[DOI] http://dx.doi.org/10.1109/TSMCA.2002.807031