КФУ. Карточка публикации. Motion Planning Strategies and Human Performance in the Manipulation of Underactuated Flexible Objects

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MOTION PLANNING STRATEGIES AND HUMAN PERFORMANCE IN THE MANIPULATION OF UNDERACTUATED FLEXIBLE OBJECTS

Форма представления

Тезисы и материалы конференций в зарубежных журналах и сборниках

Год публикации

2019

Язык

английский

Авторы, сотрудники КФУ

Магид Евгений Аркадьевич, автор

Библиографическое описание на языке оригинала

Svinin M., Magid E., Goncharenko I., Kryssanov V. Motion Planning Strategies and Human Performance in the Manipulation of Underactuated Flexible Objects // 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) (Miyazaki; Japan; 7 -10 October 2018) - p. 3458-3465.

Аннотация

2018 IEEE International Conference on Systems, Man, and Cybernetics

Ключевые слова

Human-like reaching movements, dynamic environment, flexible objects, optimality

Название журнала

2018 IEEE International Conference on Systems, Man, and Cybernetics

URL

https://ieeexplore.ieee.org/document/8616583

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https://repository.kpfu.ru/?p_id=257452

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2019_Motion_Planning_Strategies_and__uman_Performance_in_the_Manipulation_of_Underactuated_Flexible_Objects.pdf	0,37	pdf	посмотреть / скачать

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.date.accessioned	2019-01-01T00:00:00Z	ru_RU
dc.date.available	2019-01-01T00:00:00Z	ru_RU
dc.date.issued	2019	ru_RU
dc.identifier.citation	Svinin M., Magid E., Goncharenko I., Kryssanov V. Motion Planning Strategies and Human Performance in the Manipulation of Underactuated Flexible Objects // 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) (Miyazaki; Japan; 7 -10 October 2018) - p. 3458-3465.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=257452	ru_RU
dc.description.abstract	2018 IEEE International Conference on Systems, Man, and Cybernetics	ru_RU
dc.description.abstract	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.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Human-like reaching movements	ru_RU
dc.subject	dynamic environment	ru_RU
dc.subject	flexible objects	ru_RU
dc.subject	optimality	ru_RU
dc.title	Motion Planning Strategies and Human Performance in the Manipulation of Underactuated Flexible Objects	ru_RU
dc.type	Тезисы и материалы конференций в зарубежных журналах и сборниках	ru_RU