人間の上肢運動特徴に基づく移動物体捕捉動作の生成法

• 梶川 伸哉

• 池浦 良淳

• 大場 光太郎

• 猪岡 光

書誌事項

タイトル別名

• Motion Planning to Catch a Moving Object with Human Arm Characteristics.
• ニンゲン ノ ジョウシ ウンドウ トクチョウ ニ モトヅク イドウブッタイ ホソク ドウサ ノ セイセイホウ

抄録

This paper proposes a method to generate human like arm movement to catching a moving object. Firstly, human arm movement is analyzed to catch a constant velocity's object and discuss several typical characteristics. Then a time-varying LQG controller is designed to take account human characteristics into robot motion. This controller holds the values of non-linear terms in the dynamic model of robot arm during one sampling interval, which are updated at each sampling step. Adopting this criteria, we can get an optimal control input easily in real-time, and modify the controller with arranging the weight matrices in LQG criterion. Using these time-varying weight matrices, arm movement is generated considering with the characteristics of human behavior. Finally, the valodity of this method is confirmed with some simulation results.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 67 (658), 1948-1955, 2001

  一般社団法人 日本機械学会

キーワード

• Human Characteristics
• Robot Arm
• Motion Planning
• Catching
• Moving Object

詳細情報

• CRID: 1390001206329236992
• NII論文ID: 130004084340
• NII論文ID: 110002386238
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.67.1948
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 5818606
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I5818606
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/67/658/67_658_1948/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可