NDLI: On the boundary conditions in modeling of human-like reaching movements

Content Provider	IEEE Xplore Digital Library
Author	Svinin, M. Goncharenko, I. Hosoe, S.
Copyright Year	2008
Description	Author affiliation: RIKEN, Bio-Mimetic Control Res. Center, Nagoya (Svinin, M.; Goncharenko, I.; Hosoe, S.)
Abstract	The paper deals with modeling of human-like reaching movements using optimal control theory. Typically, in the construction of optimization models, capturing the invariant features of human movements, the main emphasis is placed on the form of the optimality criterion. However, the boundary conditions are also an important part of the optimization problem. Considering reaching movements in the manipulation of flexible objects, we first show that the conventional imposition of the boundary conditions does not always produce a good match to the experimental data featuring the acceleration jumps in highly dynamic tasks. To explain the acceleration jumps, we reformulate the problem, using the concept of natural boundary conditions, and show that it improves the prediction of the experimental data. Finally, it is suggested how not only the acceleration but all the boundary conditions can placed in a natural way.
Starting Page	518
Ending Page	525
File Size	648168
Page Count	8
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4651151
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Acceleration Boundary conditions Mathematical model Trajectory Computational modeling Phantoms Equations
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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