2009 Fiscal Year Final Research Report
Formulation of human movements by Riemannian distance interpreted in a dynamical sense
| Project/Area Number |
20760175
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Ritsumeikan University |
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Principal Investigator |
SEKIMOTO Masahiro Ritsumeikan University, 総合理工学研究機構, 研究員 (40454516)
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| Project Period (FY) |
2008 – 2009
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| Keywords | 慣性 / 運動計測 / 解析力学 / 多関節運動 / リーマン距離 / ロボティクス / 運動制御 / リーチング |
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| Research Abstract |
A measure called inertia-induced measure was developed by analyzing dynamical and mathematical characteristics of multi-joint movements from the viewpoint of Riemannian distance. The measure provides evaluation of the amount of inertia-induced movement (free motion by inertia, Coriolis, and centrifugal forces) of a multi-joint system. By applying the measure to actual human movements, it was shown that the smooth movements tend to be closer to the inertia-induced movements than the clumsy movements. From this observation, it was suggested that humans coordinate various regions of their body so as to use their own inertia-induced properties efficiently in smooth movements. Based on the results, a motion control method for a multi-joint robot using the inertia-induced effect was designed.
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