Bio-Mimetic Trajectory Generation Based on Human Arm Movements With a Nonholonomic Constraint
time base generator (TBG)
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.
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
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Graduate School of Engineering