| Presentation | 2016-03-22 Optimal upper-arm reaching trajectory based linear-quadratic regulator Yoshiaki Taniai, Rikuto Murata, Tomohide Naniwa, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In both the one-link and the two-link upper-arm reaching movements, positional variability of the hand trajectories of humans has been reported to exhibit a peak around the middle of the movement duration. Furthermore, in the one-link upper-arm reaching movements, the positional variability increases with a increase in the target size. It has been reported that the optimal trajectories based on iterative linear quadratic Gaussian (iLQG) represent the characteristic of the peak of positional variability. On the other hand, the trajectories based on linear quadratic regulator (LQR) also represent the peak of positional variability and the change of positional variability according to the target size. However, it has not been examined whether the trajectories based on the LQR quantitatively represent the characteristics of positional variability. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | one-link upper-arm reaching movement / optimal feedback control / linear quadratic regulator / positional variability |
| Paper # | NC2015-93 |
| Date of Issue | 2016-03-15 (NC) |
| Conference Information | |
| Committee | MBE / NC |
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| Conference Date | 2016/3/22(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Tamagawa University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Tetsuo Kobayashi(Kyoto Univ.) / Toshimichi Saito(Hosei Univ.) |
| Vice Chair | Yutaka Fukuoka(Kogakuin Univ.) / Shigeo Sato(Tohoku Univ.) |
| Secretary | Yutaka Fukuoka(akita noken) / Shigeo Sato(Kogakuin Univ.) |
| Assistant | Takenori Oida(Kyoto Univ.) / Ryota Horie(Shibaura Inst. of Tech.) / Hiroyuki Kanbara(Tokyo Inst. of Tech.) / Hisanao Akima(Tohoku Univ.) |
| Paper Information | |
| Registration To | Technical Committee on ME and Bio Cybernetics / Technical Committee on Neurocomputing |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Optimal upper-arm reaching trajectory based linear-quadratic regulator |
| Sub Title (in English) | |
| Keyword(1) | one-link upper-arm reaching movement |
| Keyword(2) | optimal feedback control |
| Keyword(3) | linear quadratic regulator |
| Keyword(4) | positional variability |
| 1st Author's Name | Yoshiaki Taniai |
| 1st Author's Affiliation | University of Fukui(Fukui Univ.) |
| 2nd Author's Name | Rikuto Murata |
| 2nd Author's Affiliation | University of Fukui(Fukui Univ.) |
| 3rd Author's Name | Tomohide Naniwa |
| 3rd Author's Affiliation | University of Fukui(Fukui Univ.) |
| Date | 2016-03-22 |
| Paper # | NC2015-93 |
| Volume (vol) | vol.115 |
| Number (no) | NC-514 |
| Page | pp.pp.137-142(NC), |
| #Pages | 6 |
| Date of Issue | 2016-03-15 (NC) |