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Motion Planning Strategies and Human Performance in the Manipulation of Underactuated Flexible Objects

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dc.contributor.author Svinin M.
dc.contributor.author Magid E.
dc.contributor.author Goncharenko I.
dc.contributor.author Kryssanov V.
dc.date.accessioned 2020-01-15T22:11:12Z
dc.date.available 2020-01-15T22:11:12Z
dc.date.issued 2019
dc.identifier.uri https://dspace.kpfu.ru/xmlui/handle/net/156929
dc.description.abstract © 2018 IEEE. The paper deals with modeling of human-like reaching movements in dynamic environments. A simple but not trivial example of reaching in a dynamic environment is the rest-to-rest manipulation of a multi-mass flexible object with the elimination of residual vibrations. In this movement task, the hand velocity profiles may have a form that is quite different from the classical bell shape. Two approaches to the prediction of reaching movements are formulated in position and force actuation settings. In the first approach, either the position of the hand or the hand force is specified by the lowest order polynomial satisfying the boundary conditions of the reaching task. The second approach is based on the minimization of either the hand jerk or the hand force-change, with taking into account the dynamics of the flexible object. To verify the resulting four mathematical models, an experiment on the manipulation of a ten-masses flexible object of low stiffness is conducted. The experimental results show that the second approach gives a significantly better prediction of human movements, with the minimum hand force-change model having an edge over the minimum hand jerk one.
dc.subject dynamic environment
dc.subject flexible objects
dc.subject Human-like reaching movements
dc.subject optimality
dc.title Motion Planning Strategies and Human Performance in the Manipulation of Underactuated Flexible Objects
dc.type Conference Paper
dc.collection Публикации сотрудников КФУ
dc.relation.startpage 3458
dc.source.id SCOPUS-2019-SID85062212667

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  • Публикации сотрудников КФУ Scopus [22633]
    Коллекция содержит публикации сотрудников Казанского федерального (до 2010 года Казанского государственного) университета, проиндексированные в БД Scopus, начиная с 1970г.

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