Models of human movement: Trajectory planning and inverse kinematics studies

2013 ◽  
Vol 61 (4) ◽  
pp. 330-339 ◽  
Author(s):  
Tamar Flash ◽  
Yaron Meirovitch ◽  
Avi Barliya
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
Human Movement ◽  
Movement Trajectory

Multi Human Movement Trajectory Extraction by Thermal Sensor

2014 ◽  
pp. 35-49
Author(s):  
Masato Kuki ◽  
Hiroshi Nakajima ◽  
Naoki Tsuchiya ◽  
Junichi Tanaka ◽  
Yutaka Hata
Keyword(s):  
Human Movement ◽  
Thermal Sensor ◽  
Movement Trajectory

scholarly journals Human care system for heart-rate and human-movement trajectory in home and its application to detect mental disease

2012 ◽  
Author(s):  
Yutaka Hata ◽  
Seigo Kanazawa ◽  
Maki Endo ◽  
Naoki Tsuchiya ◽  
Hiroshi Nakajima
Keyword(s):  
Heart Rate ◽  
Mental Disease ◽  
Human Movement ◽  
Movement Trajectory ◽  
Human Care ◽  
Care System

Simulation on Trajectory Planning of 6R Manipulator Based on the Shortest Distance Criterion

2014 ◽  
Vol 602-605 ◽  
pp. 942-945
Author(s):  
Qing Qing Huang ◽  
Guang Feng Chen ◽  
Jiang Hua Li ◽  
Xin Wei
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics ◽  
Spline Interpolation ◽  
Algebraic Method ◽  
End Effector ◽  
Cartesian Space ◽  
Shortest Distance ◽  
Inverse Solutions ◽  
Group Inverses ◽  
Forward And Inverse Kinematics

This paper concerns the trajectory planning and simulation for 6R Manipulator. First, algebraic method was used to deduce the forward and inverse kinematics of 6R manipulator. All inverse solutions were expressed in atan2 to eliminate redundant roots to get the corresponding inverse formula. For the trajectory planning of manipulator in Cartesian space, using the cubic spline interpolation to get the drive function of joint, getting a unique solution from eight group inverses by the shortest distance criterion, and then obtained the actual end-effector trajectory. Using Matlab to verify the proposed trajectory planning method, validated results show that the proposed algorithm is feasible and effective.

Influence of lntermittency and Synergy on Grasping

Motor Control ◽  
1999 ◽  
Vol 3 (3) ◽  
pp. 280-284 ◽  
Author(s):  
Peter D. Neilson
Keyword(s):  
Trajectory Planning ◽  
Movement Control ◽  
Human Movement ◽  
Optimization Criterion ◽  
Coordinate Space ◽  
Processing Load ◽  
Minimum Jerk

This commentary firstly supports Smeets and Brenner in their choice of a kinematic trajectory, submitting that the challenge posed by the rival torque-change formulation is resolved by consideration of intermittency in human movement control. Second, it examines the choice of optimization criterion for trajectory planning, arguing in favor of minimum acceleration rather than minimum jerk. Third, using the notion of optimized trajectories in task-dependent coordinate space together with synergy generation, it suggests a formulation that reduces the processing load entailed in Smeets and Brenner's proposal of individual trajectories for each digit.

Study on NURBS Surface Tool Trajectory Planning of 6R Engraving Robot

2013 ◽  
Vol 711 ◽  
pp. 422-425 ◽  
Author(s):  
Yu Hu Zuo
Keyword(s):  
Trajectory Planning ◽  
Coordinate Transformation ◽  
Inverse Kinematics ◽  
End Milling ◽  
Transformation Method ◽  
Nurbs Surface ◽  
Calculation Algorithm ◽  
Tool Trajectory ◽  
Coordinate Transformation Method ◽  
Cutting Point

A NURBS surface tool trajectory planning method of engraving robot is proposed. The calculation algorithm including NURBS surface tool trajectory, cutting point and effective cutting radius of end milling cutter and inverse kinematics transform is discussed in detail using Taylor and coordinate transformation method. It is the foundation to further applied to the engraving robot tool trajectory planning or off-line programming.

A Comparative Study for an Inverse Kinematics Solution of an Aerial Manipulator Based on the Differential Evolution Method and the Modifi ed Shuffl ed Frog-Leaping Algorithm

2018 ◽  
Vol 19 (11) ◽  
pp. 714-724
Author(s):  
I. N. Ibrahim
Keyword(s):  
Differential Evolution ◽  
Trajectory Planning ◽  
Inverse Kinematics ◽  
Population Based ◽  
Computing Methods ◽  
Robot Kinematics ◽  
Aerial Manipulator ◽  
Specific Objective ◽  
Inverse Kinematics Problem ◽  
Aerial Vehicle

This paper focuses on the real-time kinematics solution of an aerial manipulator mounted on an aerial vehicle, the vehicle’s motion isn’t considered in this study. Robot kinematics using Denavit-Hartenberg model  was presented. The fundamental scope of this paper is to obtain a global online solution of design configurations with a weighted specific objective function and imposed constraints are fulfilled. Acknowledging the forward kinematics equations of the manipulator; the trajectory planning issue is consequently assigned to on an optimization issue. Several types of computing methods are documented in the literature and are well-known for solving complicated nonlinear functions. Accordingly, this study suggests two kinds of artificial intelligent techniques which are regarded as search methods; they are differential evolution (DE) method and modified shuffled frog-leaping algorithm (MSFLA). These algorithms are constrained metaheuristic and population-based approaches. moreover, they are able to solve the inverse kinematics problem taking into account the mobile platform additionally avoiding singularities since it doesn’t demand the inversion of a Jacobian matrix. Simulation results are carried out for trajectory planning of 6 degree-of-freedom (DOF) kinematically aerial manipulator and confirmed the feasibility and effectiveness of the supposed methods.

scholarly journals CONTROL OF THE HEXAPOD WALKING ROBOT / ŠEŠIAKOJO ŽINGSNIUOJANČIO ROBOTO VALDYMAS

2013 ◽  
Vol 5 (2) ◽  
pp. 96-100
Author(s):  
Raimondas Zubavičius ◽  
Nerijus Paulauskas ◽  
Martynas Šapurov
Keyword(s):  
Inverse Kinematics ◽  
Servo Control ◽  
Movement Trajectory ◽  
Control Methods ◽  
Hexapod Robot ◽  
Walking Robot ◽  
Control Signals ◽  
Leg Movement ◽  
Robot Leg ◽  
Three Degree Of Freedom

The analysis focuses on control features of the hexapod walking robot with three degree-of-freedom legs. This paper describes different servo control methods and presents the developed algorithm for formation of servos control signals. The geometric inverse kinematics method was used to calculate the angles of each joint of a leg. The authors present the results of the experimental investigation on the hexapod robot leg movement trajectory. Article in Lithuanian. Santrauka Nagrinėjami šešiakojo žingsniuojančio roboto kojų, turinčių tris judrumo laipsnius, valdymo ypatumai. Aprašomi skirtingi valdomųjų mechanizmų valdymo būdai, pateikiamas sudarytas programos algoritmas valdomųjų mechanizmų valdymo signalams formuoti. Aprašyta, kaip randami atskirų roboto kojos dalių tarpusavio kampai taikant geometrinį atvirkštinės kinematikos metodą. Pateikiami šešiakojo žingsniuojančio roboto maketo tyrimo vienos kojos judėjimo erdvėje rezultatai.

Analytical Trajectory Optimization of Seven Degrees of Freedom Redundant Robots

1987 ◽  
Vol 11 (4) ◽  
pp. 197-200 ◽  
Author(s):  
B. Benhabib ◽  
R.G. Fenton ◽  
A.A. Goldenberg
Keyword(s):  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Optimization Procedure ◽  
Redundant Robots ◽  
Point Motion ◽  
Point To Point ◽  
Lagrange’S Method

The basic characteristic of kinematically redundant robots is that non-unique joint solutions may exist for a specified end effector location. Thus, trajectory planning for a kinematically redundant robot requires an optimization procedure to determine the joint displacements when solving the inverse kinematics relations. In this paper an analytical solution is developed for the trajectory optimization problem of redundant robots based on the classical Lagrange’s method. A detailed formulation is provided for seven degrees of freedom robots, which minimizes the Euclidean norm of joint dislacements for point-to-point motion trajectory planning.

INVERSE KINEMATICS AND TRAJECTORY PLANNING FOR A HYPER-REDUNDANT BIONIC TRUNK-LIKE ROBOT

2020 ◽  
Vol 35 (3) ◽  
Author(s):  
Yongjie Zhao ◽  
Feifei Yuan ◽  
Chengwei Chen ◽  
Lei Jin ◽  
Jianyuan Li ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Inverse Kinematics
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