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

*この研究の対応する著者

研究成果: Article査読

7 被引用数 (Scopus)

抄録

A minimum commanded torque change criterion based on the optimization principle is proposed as a model that accounts for human voluntary motion. It is shown that the trajectory of human arm motion can be well reproduced by the model. In the point-to-point movement, the calculation of the torque based on the minimum commanded torque change criterion requires a highly nonlinear calculation, and it is difficult to determine the optimal trajectory. As solution methods, a Newton-like method and a steepest descent method have been proposed. However, an optimal solution cannot be obtained by these methods, for several reasons. This paper proposes a method in which the trajectory of the joint angle is analytically represented by a system of orthogonal polynomials, and the coefficients of the orthogonal polynomials are estimated by a linear iterative calculation so that the parameters satisfy the EulerPoisson equation, as a necessary condition for the optimal solution. As a result of numerical experiments, it is shown that a solution satisfying the Euler-Poisson equation with high numerical accuracy is obtained in a short time, regardless of the parameters such as those of the boundary conditions.

本文言語English
ページ(範囲)92-103
ページ数12
ジャーナルSystems and Computers in Japan
36
2
DOI
出版ステータスPublished - 2005 2
外部発表はい

ASJC Scopus subject areas

  • 理論的コンピュータサイエンス
  • 情報システム
  • ハードウェアとアーキテクチャ
  • 計算理論と計算数学

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