On the motion planning of human-like reaching movements by a minimum variance model

Mikhail Mikhailovich Svinin; Motoji Yamamoto

doi:10.1109/TENCON.2010.5686544

On the motion planning of human-like reaching movements by a minimum variance model

Mikhail Mikhailovich Svinin, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

The paper deals with modeling of human-like reaching movements using probabilistic models. The main issue under study is the generation of asymmetric velocity profiles with features compatible with previously obtained experimental data. For this purpose a popular minimum variance model is exploited and analyzed. A reformulated version of this model that does not feature a post-movement time specification is proposed and tested under simulation. It is shown that under proper selection of weight coefficients human-like motion profiles can be generated in the reformulated version of the minimum variance model.

Original language	English
Title of host publication	TENCON 2010 - 2010 IEEE Region 10 Conference
Pages	933-938
Number of pages	6
DOIs	https://doi.org/10.1109/TENCON.2010.5686544
Publication status	Published - Dec 1 2010
Event	2010 IEEE Region 10 Conference, TENCON 2010 - Fukuoka, Japan Duration: Nov 21 2010 → Nov 24 2010

Publication series

Name	IEEE Region 10 Annual International Conference, Proceedings/TENCON

Other

Other	2010 IEEE Region 10 Conference, TENCON 2010
Country/Territory	Japan
City	Fukuoka
Period	11/21/10 → 11/24/10

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering
Computer Science Applications

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10.1109/TENCON.2010.5686544

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Svinin, MM & Yamamoto, M 2010, On the motion planning of human-like reaching movements by a minimum variance model. in TENCON 2010 - 2010 IEEE Region 10 Conference., 5686544, IEEE Region 10 Annual International Conference, Proceedings/TENCON, pp. 933-938, 2010 IEEE Region 10 Conference, TENCON 2010, Fukuoka, Japan, 11/21/10. https://doi.org/10.1109/TENCON.2010.5686544

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AB - The paper deals with modeling of human-like reaching movements using probabilistic models. The main issue under study is the generation of asymmetric velocity profiles with features compatible with previously obtained experimental data. For this purpose a popular minimum variance model is exploited and analyzed. A reformulated version of this model that does not feature a post-movement time specification is proposed and tested under simulation. It is shown that under proper selection of weight coefficients human-like motion profiles can be generated in the reformulated version of the minimum variance model.

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ER -

On the motion planning of human-like reaching movements by a minimum variance model

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