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ID 14224
file
creator
Tanaka, Yoshiyuki
Kaneko, Makoto
subject
Human movements
nonholonomic constraints
time base generator (TBG)
trajectory generation
NDC
Mechanical engineering
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.
journal title
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
volume
Volume 32
issue
Issue 6
start page
773
end page
779
date of issued
2002
publisher
IEEE
issn
1083-4427
publisher doi
language
eng
nii type
Journal Article
HU type
Journal Articles
DCMI type
text
format
application/pdf
text version
publisher
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.
relation url
department
Graduate School of Engineering