1A1-G10 高速ハンドアームのダイナミクスを考慮した高速投球動作  [in Japanese] 1A1-G10 High-speed throwing motion based on dynamics of multifingered hand-arm  [in Japanese]

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Abstract

The purpose of the study is to achieve high-speed throwing motion using the hand-arm. In order to achieve high-speed motion, an appropriate motion using the dynamic characteristic of the arm is needed. Most of human sports players can use kinetic energy efficiently based on dynamics of body. As a result, they achieve high-level performance. In this paper, sine waves are used to imitate human throwing motion. The advantages of the proposed algorithm is simple to set an objective throwing motion. The parameters are optimized based on the dynamics of the hand-arm. In addition, a follow-through algorithm is added using polynomial interpolation. Experimental results are shown.

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0), _1A1-G10_1-_1A1-G10_3, 2010

    The Japan Society of Mechanical Engineers

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