Simple models in trajectory planning of human-like reaching movements

Mikhail Mikhailovich Svinin, Motoji Yamamoto, Igor Goncharenko

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

1 Citation (Scopus)

Abstract

The paper deals with modeling of human-like reaching movements. Several models are under study. First, we consider a model of reaching movement that corresponds to the minimization of control effort. It is shown that this model is represented by the well-known Beta function. The representation can be used for the construction of fractional order models and also for modeling of asymmetric velocity profiles. The natural boundary conditions, defined in this part of the paper, can also be used in modeling asymmetric velocity profiles. Finally, we consider the minimum time formulation of the optimization problem and (for the n-th order integrator) find its analytical solution in the general form.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages1662-1667
Number of pages6
DOIs
Publication statusPublished - Dec 1 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010Oct 22 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Svinin, M. M., Yamamoto, M., & Goncharenko, I. (2010). Simple models in trajectory planning of human-like reaching movements. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 1662-1667). [5651234] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5651234