Optimality Principles and Motion Planning of Human-Like Reaching Movements
The paper deals with modeling of human-like reaching movements. Several issues are under study. First, we consider a model of unconstrained reaching movements that corresponds to the minimization of control effort. It is shown that this model can be represented by the wellknown Beta function. The re...
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| Main Authors: | , , , |
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| Format: | Book Chapter |
| Language: | English |
| Published: |
IntechOpen
2010
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| Subjects: | |
| Online Access: | https://www.intechopen.com/chapters/12203 |
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| Summary: | The paper deals with modeling of human-like reaching movements. Several issues are under study. First, we consider a model of unconstrained reaching movements that corresponds to the minimization of control effort. It is shown that this model can be represented by the wellknown Beta function. The representation can be used for the construction of fractional order models and also for modeling of asymmetric velocity proï¬les. Next, we address the formation of boundary conditions in a natural way. From the mathematical point of view, the structure of the optimal solution is deï¬ned not only by the form of the optimality criterion but also by the boundary conditions of the optimization task. The natural boundary conditions, deï¬ned in this part of the paper, can also be used in modeling asymmetric velocity proï¬les. Finally, addressing the modeling of reaching movements with bounded control actions, we consider the minimum time formulation of the optimization problem and (for the n-th order integrator) ï¬nd its analytical solution. |
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| ISBN: | 978-953-307-062-9 |
| DOI: | 10.5772/10315 |