| Presentation | 2004/3/11 A Hybrid Method for Calculating the Optimal Trajectory Daisuke MIZUNO, Youji UNO, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | It is well known that two different types of methods can be used to calculate the optimal trajectory under some constraints. One is Newton-like method based on Euler-Lagrange equations, and the other is a gradient descent method with a penalty term. Both methods have some problems. A hybrid method, which was a combination of a gradient descent method and Newton-like method, was proposed to solve those problems. However, the optimal trajectory could not necessarily be calculated using the hybrid method. In this study, we revise the hybrid method stably to calculate the optimal solution. Here, the calculation of the minimum torque-change trajectory, which is similar to actual human arm trajectory, was tested. It was confirmed by computer simulation that the optimal trajectory could be calculated using the revised method. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | optimal trajectory / gradient descent method / Newton-like method / hybrid method / minimum torque-change model |
| Paper # | NC2003-169 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2004/3/11(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Chair | |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | A Hybrid Method for Calculating the Optimal Trajectory |
| Sub Title (in English) | |
| Keyword(1) | optimal trajectory |
| Keyword(2) | gradient descent method |
| Keyword(3) | Newton-like method |
| Keyword(4) | hybrid method |
| Keyword(5) | minimum torque-change model |
| 1st Author's Name | Daisuke MIZUNO |
| 1st Author's Affiliation | Department of Information and Computer Sciences, Toyohashi University of Technology() |
| 2nd Author's Name | Youji UNO |
| 2nd Author's Affiliation | Department of Information and Computer Sciences, Toyohashi University of Technology |
| Date | 2004/3/11 |
| Paper # | NC2003-169 |
| Volume (vol) | vol.103 |
| Number (no) | 733 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |