ハイブリッドシステムと高次モーション Advanced Motion as a Hybrid System
This paper presents a modeling and analysis strategy of advanced complex human motion based on a hybrid system framework. The motion modeling problem is addressed as a parameter estimation problem of the piecewise ARX model which is a class of the hybrid dynamical systems. The advantages of motion modeling based on the hybrid dynamics are: (1) The complex dynamical behavior can be represented by underlying some primitive dynamics together with switching mechanism between them. (2) The obtained model could be useful for various application, such as, design of assist controller, recognition of the human behavior, and so on. Finally, the developed strategy is applied to a driver's vehicle following task and a peg-in-hole task which represent two typical classes of the complex human motion. The obtained results show the usefulness of the hybrid dynamics for representing complex human motion.
- 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society
電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 128(6), 819-825, 2008-06-01
The Institute of Electrical Engineers of Japan