Optimizing principles underlying the shape of trajectories in goal oriented locomotion for humans

Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS

Volumn , Issue , 2006, Pages 131-136

  Arechavaleta, Gustavo ^a   Laumond, Jean Paul ^a   Hicheur, Halim ^b   Berthoz, Alain ^b  

^a LAAS CNRS   (France)

^b CNRS   (France)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER CRIME; INTELLIGENT ROBOTS; OPTIMIZATION; ROBOTICS;

CONTROLLED SYSTEMS; DIFFERENTIAL SYSTEMS; EMPTY SPACE; GOAL ORIENTED; HUMAN BEING; HUMANOID ROBOTS; INTERNATIONAL CONFERENCES; MINIMUM JERKS; OPTIMAL CONTROL PROBLEM; OPTIMIZATION PRINCIPLE; PAPER ADDRESSES;

TRAJECTORIES;

EID: 40949127808     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2006.321374     Document Type: Conference Paper

References (25)

1. Arechavaleta G., Laumond J.-P, Hicheur H., and Berthoz A., "The nonholonomic nature of human locomotion: a modeling study," 1st IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics, Pisa, Italy, 2006, 6p.
2. Balkcom D. and Mason M., "Time Optimal Trajectories for Bounded Velocity Differential Drive Vehicles." The International Journal of Robotics Research, vol. 21(3), pp. 199-217, 2002.
3. Balkcom D., Kavathekar P.-A., and Mason M., "Fastest Trajectories for an Omni-Directional Vehicle." To appear in International Workshop on Algorithmic Foundations of Robotics, New York, July 16-18, 2006.
4. Boissonnat J.-D., Cerezo A., and Leblong J., "A note on shortest paths in the plane subject to a constraint on the derivative of the curvature," INRIA, Nice-Sophia-Antipolis, Research Report 2160, 1994.
5. Dubins L.-E, "On curves of minimal length with a constraint on average curvature and with prescribed initial and terminal positions and tangents." American Journal of Mathematics, vol. 79, pp. 497-516, 1957.
6. Fernandes C., Gurvits L., and Li Z., "Near-optimal nonholonomic motion planning for a system of coupled rigid bodies." IEEE Trans. on Automatic Control, vol. 39 (3), pp. 450-463, Mar. 1994.
7. Flash T., and Hogan N., "The coordination of arm movements: an experimentally confirmed mathematical model." Journal of Neuroscience, vol. 5, pp. 1688-1703, 1985.
8. Fitts P.M., "The information capacity of the human motor system in controlling the amplitude of movements," Journal Exp. Psychol. vol. 47, pp. 381-391, 1954.
9. Glasauer S., Amorim M.-A., Viaud-Delmon I., and Berthoz A., "Differential effects of labyrinthine dysfunction on distance and direction during blindfolded walking of a triangular path." Experimental Brain Research, vol. 145(4) pp. 489-97, 2002.
10. Grasso R.,Prevost P., Ivanenko Y.P., and Berthoz A., "Eye-head coordination for the steering of locomotion in humans: an anticipatory strategy." Neuroscience Letters, vol. 253, pp. 115-118, 1998.
11. Harris C.M., and Wolpert D.M., "Signal-dependent noise determines motor planning." Nature, vol. 394, pp. 780-784, 1998.
12. Hicheur H., Glasauer S., Vieilledent S., and Berthoz A., "Head direction control during active locomotion in humans," in Wiener, S. I. and Taube, J. S. (eds.) Head Direction Cells and the Neural Mechanisms of Spatial Orientation Bradford Book ed. Cambridge,Massachusetts: MIT Press, 2005, pp. 383-408.
13. Hicheur H., Vieilledent S., Richardson, M. J. E., Flash T., and Berthoz A., "Velocity and Curvature in Human. Locomotion Along Complex Curved Paths : A Comparison with Hand Movements," Experimental Brain Research, vol. 162(2) pp. 145-154, 2005.
14. Lacquaniti F., Terzuelo C., and Viviani. P., "The law relating the kinematic and figurai aspects of drawing movements," Acta Psychol. vol. 54, pp. 115-130, 1983.
15. Laumond J.-P., Sekhavat S., and Lamiraux F., "Guidelines in Nonholonomic Motion Planning for Mobile Robots," in Robot Motion Planning and Control, Laumond J.P. (ed.), Lectures Notes in Control and Information Sciences 229. Springer, 1998.
16. Moylan P., and Anderson B., "Nonlinear regulator theory and an inverse optimal control problem," IEEE Trans. on Automatic Control, vol. 1.8, pp. 460-465, 1973.
17. Ng A., and Russell S., "Algorithms for inverse reinforcement learning," Proceedings of the 17th Int. Conf. on Machine Learning, San Francisco, 2000.
18. Reeds J.-A., and Shepp R.-A., "Optimal paths for a car that goes both forward and backwards," Pacific Journal of Mathematics, vol. 145 (2), pp. 367-393, 1990.
19. Schaal S., Sternad D., "Origins ans violations of the 2/3 power law in rhythmic three-dimensional movements," Experimental Brain Research, vol. 1.36, pp. 60-72, 2000.
20. Sussmann H.J. Ed., Nonlinear Controllability and Optimal Control, Marcel Dekker, Inc., New York, 1990.
21. Todorov E., and Jordan M.I., "Smoothness maximization along a predefined path acccurately predicts the speed profile of complex arm. movements," Journal of Neurophysiology, vol. 80, pp. 696-714, 1998.
22. Todorov E., "Optimality principles in sensorimotor control," Nature neuroscience, vol. 7 (9), pp. 907-915, 2004.
23. Uno Y., Kawato M., and Suzuki R., "Formation and control of optimal trajectory in human multijoint arm movement: Minimum torque-change model," Biological Cybernetics vol. 61, pp. 89-101, 1989.
24. Viviani P., and Flash T., "Minimun-jerk model, two-thirds power law, and isochrony: converging approaches to movement planning," J. Exp. Psychol. Hum. Percept. Perform, vol. 21, pp. 32-53, 1995.
25. Vieilledent S., Kerlirzin Y., Dalbera S., and Berthoz A., "Relationship between velocity and curvature of a locomotor trajectory in human," Neuroscience Letters, vol. 305, pp. 65-69, 2001.