Multi-joint arm trajectory formation based on the minimization principle using the euler-poisson equation

Yasuhiro Wada, Yuichi Kaneko, Eri Nakano, Rieko Osu, Mitsuo Kawato

研究成果: Conference contribution

抄録

In previous research, criteria based on optimal theories were examined to explain trajectory features in time and space in multi joint arm movements. Four criteria have been proposed. They were the minimum hand jerk criterion, the minimum angle jerk criterion, the minimum torque change criterion, and the minimum commanded torque change criterion. Optimal trajectories based on the two former criteria can be calculated analytically. In contrast, optimal trajectories based on the minimum commanded torque change criterion are difficult to be calculated even with numerical methods. In some cases, they can be computed by a Newton-like method or a steepest descent method combined with a penalty method. However, for a realistic physical parameter range, a former becomes unstable quite often, and the latter is unreliable about the optimality of the obtained solution. In this paper, we propose a new method to stably calculate optimal trajectories based on the minimum commanded torque change criterion. The method can obtain trajectories satisfying Euler-Poisson equations with a sufficiently high accuracy. In the method, a joint angle trajectory, which satisfies the boundary conditions strictly, is expressed by using orthogonal polynomials. The coefficients of the orthogonal polynomials are estimated by using a linear iterative calculation so as to satisfy the Euler-Poisson equations with a sufficiently high accuracy. In numerical experiments, we show that the optimal solution can be computed in a wide work space and can also be obtained in a short time compared with the previous methods.

本文言語English
ホスト出版物のタイトルArtificial Neural Networks - ICANN 2001 - International Conference, Proceedings
出版社Springer Verlag
ページ977-984
ページ数8
2130
ISBN(印刷版)3540424865, 9783540446682
DOI
出版ステータスPublished - 2001
外部発表はい
イベントInternational Conference on Artificial Neural Networks, ICANN 2001 - Vienna, Austria
継続期間: 2001 8月 212001 8月 25

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
2130
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Other

OtherInternational Conference on Artificial Neural Networks, ICANN 2001
国/地域Austria
CityVienna
Period01/8/2101/8/25

ASJC Scopus subject areas

  • コンピュータ サイエンス(全般)
  • 理論的コンピュータサイエンス

フィンガープリント

「Multi-joint arm trajectory formation based on the minimization principle using the euler-poisson equation」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル