人間の上肢運動を模擬したロボットの軌道生成法

概要

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In this paper, the bio-mimetic trajectory of robots for manipulating a holding nonholonomic car is generated with a Time Base Generator (TBG) . In order to reveal what kind of trajectories the robots should generate on the task, the experiments with subjects are performed, and it is shown that a human generates the trajectory with single or double-peaked velocity profile according to geometrical conditions of the car position. Then, by modeling these primitive profiles with the TBG, a new method that generates the bio-mimetic trajectory for the task of the robots is proposed. Finally, the trajectories are generated and compared with the human trajectories.