| Presentation | 1999/7/19 Trajectory formation based on the minimum commanded torque change model using the Euler-Poisson equation Yuichi Kaneko, Eri Nakano, Rieko Osu, Yasuhiro Wada, Mitsuo Kawato, |
|---|---|
| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In computational theory studies on trajectory formation, several mathematical models based on the optimization theory have been proposed. One of them is the minimum commanded-torque change model, which is strongly dependent on the dynamics of the musculoskeletal system. Trajectories generated by the model correspond well with trajectories produced by a human. However, it is hard to calculate the optimal trajectory of the model in a point-to-point movement even if the arm dynamics is a manipulator of two joints. This is because the commanded-torques have to be calculated using non-linear equations. Accordingly, solving a non-linear optimization problem requires solving the model using some technique. The Newton-like method and the steepest descent method have been proposed to calculate the optimal trajectory of the model. These methods can not calculate it, however, when the dynamics parameters such as large viscosity values are changed. In this paper, we propose an algorithm to solve the optimal trajectory of the minimum commanded-torque change model. The trajectory is expressed by an orthogonal polynomial equation. The parameters of the equation are estimated to satisfy the Euler-Poisson equation of the optimal problem by the calculation of iterative linear operations. We show in numerical experiments that our algorithm can overcome the problems of the previous algorithm and can calculate the optimal trajectory in a small number of iterative calculations. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | minimum commanded-torque change model / Euler-Poisson equation / orthogonal polynomial / trajectory formation / optimization |
| Paper # | NC99-30 |
| Date of Issue |
| Conference Information | |
| Committee | NC |
|---|---|
| Conference Date | 1999/7/19(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
| Assistant | |
| Paper Information | |
| Registration To | Neurocomputing (NC) |
|---|---|
| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Trajectory formation based on the minimum commanded torque change model using the Euler-Poisson equation |
| Sub Title (in English) | |
| Keyword(1) | minimum commanded-torque change model |
| Keyword(2) | Euler-Poisson equation |
| Keyword(3) | orthogonal polynomial |
| Keyword(4) | trajectory formation |
| Keyword(5) | optimization |
| 1st Author's Name | Yuichi Kaneko |
| 1st Author's Affiliation | Nagaoka University of Technology() |
| 2nd Author's Name | Eri Nakano |
| 2nd Author's Affiliation | Advanced Telecommunications Research Institute International |
| 3rd Author's Name | Rieko Osu |
| 3rd Author's Affiliation | ERATO Dynamic Brain Project |
| 4th Author's Name | Yasuhiro Wada |
| 4th Author's Affiliation | Nagaoka University of Technology |
| 5th Author's Name | Mitsuo Kawato |
| 5th Author's Affiliation | ERATO Dynamic Brain Project: ATR Human Processing Research Laboratories |
| Date | 1999/7/19 |
| Paper # | NC99-30 |
| Volume (vol) | vol.99 |
| Number (no) | 193 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |