On the boundary conditions in modeling of human-like reaching movements

Mikhail Svinin, Igor Goncharenko, Shigeyuki Hosoe

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

4 被引用数 (Scopus)

抄録

The paper deals with modeling of human-like reaching movements using optimal control theory. Typically, in the construction of optimization models, capturing the invariant features of human movements, the main emphasis is placed on the form of the optimality criterion. However, the boundary conditions are also an important part of the optimization problem. Considering reaching movements in the manipulation of flexible objects, we first show that the conventional imposition of the boundary conditions does not always produce a good match to the experimental data featuring the acceleration jumps in highly dynamic tasks. To explain the acceleration jumps, we reformulate the problem, using the concept of natural boundary conditions, and show that it improves the prediction of the experimental data. Finally, it is suggested how not only the acceleration but all the boundary conditions can placed in a natural way.

本文言語英語
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ518-525
ページ数8
DOI
出版ステータス出版済み - 12 1 2008
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, フランス
継続期間: 9 22 20089 26 2008

出版物シリーズ

名前2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

その他

その他2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
国/地域フランス
CityNice
Period9/22/089/26/08

All Science Journal Classification (ASJC) codes

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 制御およびシステム工学
  • 電子工学および電気工学

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