A mathematical analysis of the minimum variance model of human-like reaching movements

Mikhail Svinin, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

The paper deals with modeling of human-like reaching movements using a probabilistic minimum variance model. A continuous formulation of the minimum variance model is developed and analyzed. The model features a parameter, having the meaning of the post-movement time period, whose assignment in a systematic way is not evident. To facilitate the situation and avoid the explicit specification of this parameter, the limiting case of the post-movement period tending to infinity is analyzed for several classes of the control plant. A connection between this limiting model and the conventional minimum control effort model is also established.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages4386-4391
Number of pages6
DOIs
Publication statusPublished - Dec 29 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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