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

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

Volumn , Issue , 2008, Pages 518-525

  Svinin, Mikhail ^a   Goncharenko, Igor ^b   Hosoe, Shigeyuki ^a  

^a RIKEN   (Japan)

^b 3D Incorporated   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMIC TASKS; EXPERIMENTAL DATA; FLEXIBLE OBJECT; HUMAN MOVEMENTS; INVARIANT FEATURES; NATURAL BOUNDARY CONDITION; OPTIMAL CONTROL THEORY; OPTIMALITY CRITERIA; OPTIMIZATION MODELS; OPTIMIZATION PROBLEMS; REACHING MOVEMENTS;

CONTROL THEORY; HUMAN FORM MODELS; INTELLIGENT ROBOTS; OPTIMIZATION;

BOUNDARY CONDITIONS;

EID: 69549103173     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4651151     Document Type: Conference Paper

References (19)

1. F. Pollick, J. Hale, and M. Tzoneva-Hadjigeorgieva, "Perception of humanoid movements," International Journal of Humanoid Robotics, vol.2, no.3, pp. 277-300, 2005.
2. F. Amirabdollahian, R. Loureiro, and W. Harwin, "Minimum jerk trajectory control for rehabilitation and haptic applications," in Proc. IEEE Int. Conf. on Robotics and Automation, Washington D.C., 2002, pp. 3380-3385. (Pubitemid 34916066)
3. M. Kawato, "Internal models for motor control and trajectory planning," Current Opinion in Neurobiology, vol.9, pp. 718-727, 1999.
4. T. Flash, N. Hogan, and M. Richardson, "Optimization principles in motor control," in The Handbook of Brain Theory and Neural Networks, 2nd ed., M. Arbib, Ed. Cambridge, Massachusetts: MIT Press, 2003, pp. 827-831.
5. T. Tsuji, Y. Tanaka, P. Morasso, V. Sanguineti, and M. Kaneko, "Biomimetic trajectory generation of robots via artificial potential field with time base generator," IEEE Trans. on Systems, Man, and Cybernetics - Part C: Applications and Reviews, vol.32, no.4, pp. 426-439, 2002.
6. S. Arimoto, M. Sekimoto, H. Hashiguchi, and R. Ozawa, "Natural resolution of ill-posedness of inverse kinematics for redundant robots: A challenge to bernstein's degrees-of-freedom problem," Advanced Robotics, vol.19, no.4, pp. 401-434, 2005.
7. T. Flash and N. Hogan, "The coordination of arm movements: An experimentally confirmed mathematical model," The Journal of Neuroscience, vol.5, no.7, pp. 1688-1703, 1985. (Pubitemid 15234427)
8. Y. Uno, M. Kawato, and R. Suzuki, "Formation and control of optimal trajectory in human multijoint arm movement. minimum torque-change model," Biological Cybernetics, vol.61, pp. 89-101, 1989. (Pubitemid 19149233)
9. M. Richardson and T. Flash, "Comparing smooth arm movements with the two-thirds power law and the related segmented-control hypothesis," The Journal of Neuroscience, vol.22, no.18, pp. 8201-8211, 2002. (Pubitemid 35379126)
10. M. Svinin, I. Goncharenko, Z. Luo, and S. Hosoe, "Reaching movements in dynamic environments: How do we move flexible objects?" IEEE Trans. on Robotics, vol.22, no.4, pp. 724-739, 2006. (Pubitemid 44263860)
11. R. Stein, M. Oguztoreli, and C. Capaday, "What is optimized in muscular movements?" in Human Muscle Power, N. Jones, M. McCartney, and A. McComas, Eds. Champaign, Illinois: Human Kinetics, 1986, pp. 131-150.
12. S. Edelman and T. Flash, "A model of handwriting," Biological Cybernetics, vol.57, pp. 25-36, 1987.
13. A. Wiegner and M. Wierbicka, "Kinematic models and elbow flexion movements: Quantitative analysis," Experimental Brain Research, vol.88, pp. 665-673, 1992.
14. R. Plamondon, P. Alimi, A.M. Yergeau, and F. Leclere, "Modeling velocity profiles of rapid movements: A comparative study," Biological Cybernetics, vol.69, pp. 119-128, 1993.
15. J. Dingwell, C. Mah, and F. Mussa-Ivaldi, "Experimentally confirmed mathematical model for human control of a non-rigid object," Journal of Neurophysiology, vol.91, pp. 1158-1170, 2004. (Pubitemid 38250400)
16. M. Svinin, I. Goncharenko, S. Hosoe, and Y. Kanou, "Modeling and motor learning of reaching movements in virtual environments," in Proc. IEEE/ICME Int. Conf. on Complex Medical Engineering, vol.2, Beijing, China, 2007, pp. 1298-1305.
17. P. Morasso, "Spatial control of arm movements," Experimental Brain Research, vol.42, pp. 223-227, 1981.
18. O. Agrawal, "Formulation of Euler-Lagrange equations for fractional variational problems," Journal of Mathematical Analysis and Applications, vol.272, no.1, pp. 368-379, August 2002.
19. I. Gelfand and S. Fomin, Calculus of Variations. Englewood Cliffs, New Jersey: Prentice-Hall, 1963.