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Paper Abstract and Keywords
Presentation 2006-03-17 09:55
An evaluation of trajectory planning models based on energy cost during reaching submovements
Yoshiaki Taniai, Jun Nishii (Yamaguchi Univ.)
Abstract (in Japanese) (See Japanese page) 
(in English) It has been reported that trajectories for reaching movements are not planned so as to minimize the energy cost. What is the reason? In this study, we computed energy costs of the reaching movements planned by criteria of minimization of the energy cost, the endpoint variance and the torque change, respectively. In the computation we considered submovements to compensate for the positional error of movements due to signal-dependent noise for motor commands. The results suggest that when noise is large the energy cost required for the criteria of minimization of the endpoint variance and the torque change are smaller than that for the minimum energy consumption model.
Keyword (in Japanese) (See Japanese page) 
(in English) minimum energy consumption model / minimum endpoint variance model / minimum torque change model / arm reaching movement / sub-movement / / /  
Reference Info. IEICE Tech. Rep., vol. 105, no. 659, NC2005-152, pp. 7-12, March 2006.
Paper # NC2005-152 
Date of Issue 2006-03-10 (NC) 
ISSN Print edition: ISSN 0913-5685
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Conference Information
Committee NC  
Conference Date 2006-03-15 - 2006-03-17 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa University 
Topics (in Japanese) (See Japanese page) 
Topics (in English) General 
Paper Information
Registration To NC 
Conference Code 2006-03-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) An evaluation of trajectory planning models based on energy cost during reaching submovements 
Sub Title (in English)  
Keyword(1) minimum energy consumption model  
Keyword(2) minimum endpoint variance model  
Keyword(3) minimum torque change model  
Keyword(4) arm reaching movement  
Keyword(5) sub-movement  
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1st Author's Name Yoshiaki Taniai  
1st Author's Affiliation Graduate School of Science and Engineering, Yamaguchi University (Yamaguchi Univ.)
2nd Author's Name Jun Nishii  
2nd Author's Affiliation Yamaguchi University (Yamaguchi Univ.)
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Speaker Author-1 
Date Time 2006-03-17 09:55:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2005-152 
Volume (vol) vol.105 
Number (no) no.659 
Page pp.7-12 
#Pages
Date of Issue 2006-03-10 (NC) 


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