Calculating Optimal Criteria for Trajectory Planning Using Observed Movement Data

12 References
  • OSU Rieko
    ATR Human Information Processing Res. Labs.
  • UNO Yoji
    Department of Information and Computer Sciences, Toyohashi University of Technology
  • KOIKE Yasuharu
    Bioresearch laboratory, Future Project Division No. 1, Toyota Motor Corporation
  • KAWATO Mitsuo
    ATR Human Information Processing Res. Labs.

Bibliographic Information

Other Title
  • 運動軌道データから計算される評価関数による軌道計画規範の検討

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Description

Various optimal criteria have been proposed for trajectory planning in multi-joint arm movements. The minimum-jerk criterion plans smooth trajectories in the extrinsic task space. The minimum-joint-angle-jerk criteria, the minimum-torque-change criteria, and the minimum-motor-command-change criteria plan smooth trajectories in the intrinsic body space. Assuming that realized trajectories reflect planned trajectories, we compared the values of above four optimal criteria calculated from observed movement data. If the value of a certain criterion is larger in a spontaneously generated movement than in some other movement, that criterion can be rejected. If, however, the value of a certain criterion is smaller in a spontaneously generated movement than in any other movement, it supports that criterion. We investigated plausibility of these models by calculating optimal criteria using observed movement data.

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Details 詳細情報について

  • CRID
    1570854177493294080
  • NII Article ID
    110003232923
  • NII Book ID
    AN10091178
  • Text Lang
    ja
  • Data Source
    • CiNii Articles

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