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Motion Planning of Human-Like Movements in the Manipulation of Flexible Objects

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Advances in Robot Control

Abstract

The paper deals with modeling of human-like reaching movements in dynamic environments. A simple but not trivial example of reaching in a dynamic environment is the rest-to-rest manipulation of a multi-mass flexible object (underactuated system) with the elimination of residual vibrations. This a complex, sport-like movement task where the hand velocity profiles can be quite different from the classical bell shape and may feature multiple phases. First, we establish the Beta function as a model of unconstrained reaching movements and analyze it properties. Based on this analysis, we construct a model where the motion of the most distal link of the object is specified by the lowest order polynomial, which is not uncommon in the control literature. Our experimental results, however, do not support this model. To plan the motion of the system under consideration, we develop a minimum hand jerk model that takes into account the dynamics of the flexible object and show that it gives a satisfactory prediction of human movements.

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Author information

Authors and Affiliations

  1. RIKEN, Anagahora, Shimoshidami, Bio-Mimetic Control Research Center, Nagoya, 463-0003, Japan

    Mikhail Svinin & Shigeyuki Hosoe

  2. 3D Incorporated, 1-1 Sakaecho, Kanagawa-ku, Yokohama, Kanagawa, 221-0052, Japan

    Igor Goncharenko

Authors
  1. Mikhail Svinin
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  2. Igor Goncharenko
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  3. Shigeyuki Hosoe
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Editor information

Editors and Affiliations

  1. Robotics Department Faculty of Engineering, Ritsumeikan University Kusatsu, 525-8577, Shiga, Japan

    Sadao Kawamura

  2. RIKEN Anagahora Shimoshidam Moriyama-Ku, Bio-Mimetic Control Research Center, 463-0003, Nagoya, Japan

    Mikhail Svinin Doctor

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© 2006 Springer

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Svinin, M., Goncharenko, I., Hosoe, S. (2006). Motion Planning of Human-Like Movements in the Manipulation of Flexible Objects. In: Kawamura, S., Svinin, M. (eds) Advances in Robot Control. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-37347-6_13

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  • DOI: https://doi.org/10.1007/978-3-540-37347-6_13

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-37346-9

  • Online ISBN: 978-3-540-37347-6

  • eBook Packages: EngineeringEngineering (R0)

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