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Trajectory formation and control principles of natural human-like movements in dynamically constrained tasks

Research Project

Project/Area Number 19560272
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionThe Institute of Physical and Chemical Research

Principal Investigator

SVININ M・M  The Institute of Physical and Chemical Research, 運動系システム制御理論研究チーム, 研究員 (90274125)

Project Period (FY) 2007 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Fiscal Year 2008: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2007: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Keywords人間機械システム / モーションプランニング / バーチャルリアリティ / 人間らしい動作 / 拘束運動 / 最適制御 / ハプティックインターフェイス / 非ホロノミックなシステム
Research Abstract

本研究では動的な環境下における人間らしいリーチング運動を表現する数学モデルを構築する。運動解析に関しては,通常と異なった動的環境に対する人間の運動技能の形成を調べるため,高自由度柔軟物体の移動を伴うリーチング運動の解析を行った。実験では,任意個数の質点からなる柔軟仮想物体の運動を模擬できかつ剛性と質量を任意に指定できるよう,ファントムを用いた接触インターフェースを構成した。柔軟物体を操る場合のヒトの腕の運動軌道を予測するために、手先加速度の運動時間区間にわたる二乗積分を最小化する一般的なモデルを考えた。i柔軟物体操作におけるリーチング運動では、特に、高度に動的なタスクを実行するときに運動開始時に手先加速度のジャンプが観測されるが、これを従来から用いられている境界条件を課すことで再現することは困難であることを示した。この加速度のジャンプを説明するため、本研究では自然境界条件の概念を用いて問題を最定式化することにより、運動の予測精度を向上させることができることを明らかにした。次は、本研究の枠組みで、非ホロノミックシステムにおける生物学的にインスパイアされたスムーズな動作生成の解析を行いました。非ホロノミック拘束の下での巧みな運動を理解するために、平面上に置かれた半球の回転を利用した移動運動で、接触領域に制限溺ある場合にっいての運動計画を解析した。提案した計画アルゴリズムは、半球面上に書かれた滑らかな八の字を追跡するステップを繰り返すことによって構成される。非対称な八の字を生成するためにビビアニ曲線を一般化した。アルゴリズムの収束性を示すとともに、シミュレーションによって計算可能性を確かめた。

Report

(3 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • Research Products

    (27 results)

All 2009 2008 2007

All Journal Article (5 results) (of which Peer Reviewed: 3 results) Presentation (22 results)

  • [Journal Article] Dynamics Model, Haptic Solution, and Human-Inspired Motion Planning for Rolling-Based Manipulation2009

    • Author(s)
      I. Goncharenko, M. Svinin, S. Hosoe
    • Journal Title

      ASME Journal of Computing and Information Science in Engineering Vol. 9, No. 1 (in press)

      Pages: 0-0

    • Related Report
      2008 Final Research Report
  • [Journal Article] Dynamics Model, Haptic Solution, and Human-Inspired Motion Planning for Rolling-Based Manipulation2009

    • Author(s)
      I. Goncharenko, M. Svinin, S. Hosoe
    • Journal Title

      ASME Journal of Computing and Information Science in Engineering 9(印刷中)

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Motion Planning Algorithms for a Rolling Sphere with Limited Contact Area2008

    • Author(s)
      M. Svinin, S. Hosoe
    • Journal Title

      IEEE Transactions on Robotics Vol. 24, No. 3

      Pages: 612-625

    • Related Report
      2008 Final Research Report
  • [Journal Article] Motion Planning Algorithms for a Rolling Sphere With Limited Contact Area2008

    • Author(s)
      M. Svinin, S. Hosoe
    • Journal Title

      IEEE Transactions on Robotics 24

      Pages: 612-625

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Motion Planning Algorithms for a Rolling Sphere With Limited Contact Area2008

    • Author(s)
      M.Svinin and S.Hosoe
    • Journal Title

      IEEE Transactions on Robotics 24(accepted)

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Presentation] On the Boundary Conditions in Modeling of Human-Like Reaching Movements (The paper received Best Conference Paper Award)2008

    • Author(s)
      M. Svinin, I. Goncharenko, S. Hosoe
    • Organizer
      Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems, IROS' 2008, Vol. 1, pp. 1193-1200
    • Place of Presentation
      Nice, France
    • Related Report
      2008 Final Research Report
  • [Presentation] Planning of Smooth Motions for a Ball-Plate System With Limited Contact Area2008

    • Author(s)
      M. Svinin, S. Hosoe
    • Organizer
      Proc. IEEE International Conference on Robotics and Automation, Vol. 1, pp. 1193-1200
    • Place of Presentation
      Pasadena, CA
    • Related Report
      2008 Final Research Report
  • [Presentation] Haptic Solutions and Bio-Mimetically Inspired Motion Planning Strategy for Rolling-Based Locomotion2008

    • Author(s)
      I. Goncharenko, M. Svinin, Y. Kanou, S. Hosoe
    • Organizer
      16th IEEE Symposium on Haptic Interfaces For Virtual Environment and Teleoperator Systems, pp. 153-160
    • Place of Presentation
      Reno, Nevada, USA
    • Related Report
      2008 Final Research Report
  • [Presentation] Planning of Smooth Motions for a Ball-Plate System With Limited Contact Area2008

    • Author(s)
      M. Svinin, S. Hosoe
    • Organizer
      IEEE International Conference on Robotics and Automation, pp. 1193-1200
    • Place of Presentation
      Pasadena, USA
    • Related Report
      2008 Annual Research Report
  • [Presentation] On the Boundary Conditions in Modeling of Human-Like Reaching Movements2008

    • Author(s)
      M. Svinin, I. Goncharenko, S. Hosoe
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robot and Systems
    • Place of Presentation
      Nice, France
    • Related Report
      2008 Annual Research Report
  • [Presentation] Haptic Solutions and Bio-Mimetically Inspired Motion Planning Strategy for Rolling-Based Locomotion2008

    • Author(s)
      I. Goncharenko, M. Svinin, and Y. Kanou, and S Hosoe
    • Organizer
      IEEE 15th Symposium on Haptic Interfaces For Virtual Environment and Teleoperator Systems
    • Place of Presentation
      Reno,Nevada,USA
    • Related Report
      2007 Annual Research Report
  • [Presentation] On Motion Planning for Ball-Plate Systems with Limited Contact Area2007

    • Author(s)
      M. Svinin, S. Hosoe
    • Organizer
      Proc. IEEE International Conference on Robotics and Automation, pp. 1820-1825
    • Place of Presentation
      Rome, Italy
    • Related Report
      2008 Final Research Report
  • [Presentation] Modeling and Motor Learning of Reaching Movements in Virtual Environments2007

    • Author(s)
      M. Svinin, I. Goncharenko, S. Hosoe, Y. Kanou
    • Organizer
      IEEE/ICME International Conference on Complex Medical Engineering, Vol. 2, pp. 1298-1305
    • Place of Presentation
      Beijing, China
    • Related Report
      2008 Final Research Report
  • [Presentation] Skilful Motion Planning with Self- and Reinforcement Learning in Dynamic Virtual Environments2007

    • Author(s)
      T. Goncharenko, M. Svinin, Y. Kanou, S. Hosoe
    • Organizer
      The 4th International INTUITION Conference, "Virtual Reality and Virtual Environments", pp. 237-239
    • Place of Presentation
      Athens, Greece
    • Related Report
      2008 Final Research Report
  • [Presentation] On the Dynamics and Motion Planning for a Rolling System With Variable Inertia2007

    • Author(s)
      M. Svinin, S. Hosoe
    • Organizer
      Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2007, , Vol. 3, pp. 3315-3320
    • Place of Presentation
      San Diego, USA
    • Related Report
      2008 Final Research Report
  • [Presentation] Customizing applications with RAMSIS API and case study of skillful human motion2007

    • Author(s)
      I. Goncharenko, M. Svinin, Y. Kanou, S. Hosoe
    • Organizer
      2nd RAMSIS User Meeting
    • Place of Presentation
      Yokohama, Japan
    • Related Report
      2008 Final Research Report
  • [Presentation] Stability metrics, design methods, and a variable stiffness actuator for use in passive-dynamic robots2007

    • Author(s)
      I. Thorson, M. Svinin, S. Hosoe, F. Asano, K. Taji
    • Organizer
      Dynamic Walking III: Principles and concept of legged locomotion
    • Place of Presentation
      Mariehamn, Finland
    • Related Report
      2008 Final Research Report
  • [Presentation] Design Considerations for a Variable Stiffness Actuator in a Robot that Walks and Runs2007

    • Author(s)
      T. Thorson, M. Svinin, S. Hosoe, F. Asano, K. Taji
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会論文集, Paper1P1l-FO1
    • Place of Presentation
      秋田拠点センター
    • Related Report
      2008 Final Research Report
  • [Presentation] Quantifying Gait Robustness of Passive Dynamic Robots2007

    • Author(s)
      I. Thorson, M. Svinin, S. Hosoe, F. Asano, K. Taji
    • Organizer
      第8回システムインテグレーション部門学術講演会論文集, paper No. 1G4-5, Vo1. 1, pp.265-266
    • Place of Presentation
      広島国際大学
    • Related Report
      2008 Final Research Report
  • [Presentation] On Motion Planning for Ball-Plate Systems with Limited Contact Area2007

    • Author(s)
      M. Svinin and S. Hosoe
    • Organizer
      IEEE International Conference on Robotics and Automation, pp.1820-1825.
    • Place of Presentation
      Rome,Italy
    • Related Report
      2007 Annual Research Report
  • [Presentation] Design Considerations for a Variable Stiffness Actuator in a Robot that Walks and Runs2007

    • Author(s)
      I. Thorson, M. Svinin, S. Hosoe, F .Asano, and K. Taji
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会論文集,Paper 1P1-F01
    • Place of Presentation
      秋田拠点センター
    • Related Report
      2007 Annual Research Report
  • [Presentation] Modeling and Motor Learning of Reaching Movements in Virtual Environments2007

    • Author(s)
      M. Svinin, I. Goncharenko, and S .Hosoe, and Y. Kanou
    • Organizer
      IEEE/ICME International Conference on Complex Medical Engineering, Vol.2, pp.1298-1305.
    • Place of Presentation
      Beijing,China
    • Related Report
      2007 Annual Research Report
  • [Presentation] Quantifying Gait Robustness of Passive Dynamic Robots2007

    • Author(s)
      I. Thorson, M. Svinin, S. Hosoe, F .Asano, and K.Taji
    • Organizer
      第8回システムインテグレーション部門学術講演会論文集Vol.1,pp.265-266.
    • Place of Presentation
      広島国際大学
    • Related Report
      2007 Annual Research Report
  • [Presentation] Skilful Motion Planning with Self-and Reinforcement Learning in Dynamic Virtual Environments2007

    • Author(s)
      I. Goncharenko, M. Svinin, and Y. Kanou, S. Hosoe
    • Organizer
      4th International Conference, "Virtual Reality and Virtual Environments, pp.237-239
    • Place of Presentation
      Athens,Greece
    • Related Report
      2007 Annual Research Report
  • [Presentation] On the Dynamics and Motion Planning for a Rolling System With Variable Inertia2007

    • Author(s)
      M. Svinin and S. Hosoe
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol.3, pp.3315-3320
    • Place of Presentation
      San Diego,USA
    • Related Report
      2007 Annual Research Report
  • [Presentation] Stability metrics,design methods,and a variable stiffness actuator foruse in passive-dynamic robots2007

    • Author(s)
      I. Thorson, M. Svinin, S. Hosoe, F. Asano, K.Taji
    • Organizer
      Dynamic Walking III:Principles and concept of legged locomotion
    • Place of Presentation
      Mariehamn,Finland
    • Related Report
      2007 Annual Research Report
  • [Presentation] Customizing applications with RAMSIS API and case study of skillfulhuman motion2007

    • Author(s)
      I. Goncharenko, M. Svinin, and Y. Kanou, S. Hosoe
    • Organizer
      2nd RAMSIS User Meeting
    • Place of Presentation
      Yokohama,Japan
    • Related Report
      2007 Annual Research Report

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Published: 2007-04-01   Modified: 2021-04-07  

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