Simple models in trajectory planning of human-like reaching movements

Mikhail Mikhailovich Svinin; Motoji Yamamoto; Igor Goncharenko

doi:10.1109/IROS.2010.5651234

Simple models in trajectory planning of human-like reaching movements

Mikhail Mikhailovich Svinin, Motoji Yamamoto, Igor Goncharenko

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

2 Citations (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 language	English
Title of host publication	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages	1662-1667
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2010.5651234
Publication status	Published - Dec 1 2010
Event	23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China Duration: Oct 18 2010 → Oct 22 2010

Publication series

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

Other

Other	23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Country/Territory	Taiwan, Province of China
City	Taipei
Period	10/18/10 → 10/22/10

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Human-Computer Interaction
Control and Systems Engineering

Access to Document

10.1109/IROS.2010.5651234

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

Simple models in trajectory planning of human-like reaching movements. / Svinin, Mikhail Mikhailovich; Yamamoto, Motoji; Goncharenko, Igor.
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 1662-1667 5651234 (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).

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

Svinin, MM, 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., 5651234, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 1662-1667, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, Province of China, 10/18/10. https://doi.org/10.1109/IROS.2010.5651234

Svinin MM, Yamamoto M, Goncharenko I. 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. 2010. p. 1662-1667. 5651234. (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). doi: 10.1109/IROS.2010.5651234

Svinin, Mikhail Mikhailovich ; Yamamoto, Motoji ; Goncharenko, Igor. / Simple models in trajectory planning of human-like reaching movements. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. pp. 1662-1667 (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).

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Simple models in trajectory planning of human-like reaching movements

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