Bio-Mimetic Trajectory Generation Based on Human Arm Movements With a Nonholonomic Constraint
| Autor: | Yoshiyuki Tanaka, Toshio Tsuji, Makoto Kaneko |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2002 |
| Předmět: |
Nonholonomic system
Computer science Human arm Constraint (computer-aided design) trajectory generation time base generator (TBG) Computer Science Applications Human-Computer Interaction Control and Systems Engineering Control theory Human movements Trajectory Robot Electrical and Electronic Engineering nonholonomic constraints Software |
| Zdroj: | IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans. 32(6):773-779 |
| ISSN: | 1083-4427 |
| Popis: | In this paper, a bio-mimetic trajectory of robots for manipulating a nonholonomic car is generated with a time base generator (TBG). In order to reveal what kind of trajectories the robots should generate for the given task, experiments with human subjects were performed. It has been shown that a human generates the trajectory with a single- or double-peaked velocity profile according to the geometrical conditions of the car. Then, bio-mimetic trajectories were generated by modeling the observed primitive profiles with the TBG and also compared with the human trajectories. |
| Databáze: | OpenAIRE |
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