| Presentation | 1996/12/14 QUANTITATIVE EXAMINATION OF TRAJECTORY PLANNING CRITERIA BASED ON MANY DATA OF TRAJECTORIES Eri Nakano, Hiroshi Imamizu, Rieko Osu, Yoji Uno, Hiroaki Gomi, Toshinori Yoshioka, Mitsuo Kawato, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | We quantitatively and statistically compared actual point to point movements to movements predicted by three models; 1) minimum hand Jerk model, 2) minimum angle Jerk model and 3) minimum torque change model. Hand trajectories were measured in various initial and final positions located within a large workspace. These actual trajectories were compared with simulated trajectories for each model by using a curvature index and the sum of square difference between actual and simulated movement. Results confirmed that the minimum torque change model predicted the trajectories closest to the measured ones with respect to spatial and temporal aspects. The results of this experiment supported the hypothesis that hand traJectory is planned in intrinsic-dynamic space. Furthermore, it is considered that hand traJectory is planned to minimize the torque change which depends on change of viscosity. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | minimum hand Jerk model / minimun angle jerk model / minimum torque change model / viscosity |
| Paper # | NC96-72 |
| Date of Issue |
| Conference Information | |
| Committee | NC |
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| Conference Date | 1996/12/14(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
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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) | QUANTITATIVE EXAMINATION OF TRAJECTORY PLANNING CRITERIA BASED ON MANY DATA OF TRAJECTORIES |
| Sub Title (in English) | |
| Keyword(1) | minimum hand Jerk model |
| Keyword(2) | minimun angle jerk model |
| Keyword(3) | minimum torque change model |
| Keyword(4) | viscosity |
| 1st Author's Name | Eri Nakano |
| 1st Author's Affiliation | ATR Human Inf. Proc. Res. Labs. : Graduate School of Science and Technol., Kobe Unlv.() |
| 2nd Author's Name | Hiroshi Imamizu |
| 2nd Author's Affiliation | ERATO Dynamic Brain Project |
| 3rd Author's Name | Rieko Osu |
| 3rd Author's Affiliation | ERATO Dynamic Brain Project |
| 4th Author's Name | Yoji Uno |
| 4th Author's Affiliation | Department of Information and Computer Sciences., Toyohashi Unlv. of Techno. |
| 5th Author's Name | Hiroaki Gomi |
| 5th Author's Affiliation | NTT Basic Res. Labs. |
| 6th Author's Name | Toshinori Yoshioka |
| 6th Author's Affiliation | ERATO Dynamic Brain Project |
| 7th Author's Name | Mitsuo Kawato |
| 7th Author's Affiliation | ATR Human Inf. Proc. Res. Labs. : ERATO Dynamic Brain Project |
| Date | 1996/12/14 |
| Paper # | NC96-72 |
| Volume (vol) | vol.96 |
| Number (no) | 430 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |