相关论文: Minimum Jerk Trajectory Generation for Straight an…

Minimum Jerk trajectories have been long thought to be the reference trajectories for human movements due to their impressive similarity with human movements. Nevertheless, minimum jerk trajectories are not the only choice for $C^\infty$…

The Minimum Jerk motion model has long been cited in literature for human point-to-point reaching motions in single-person tasks. While it has been demonstrated that applying minimum-jerk-like trajectories to robot reaching motions in the…

An efficient approach to compute near time-optimal trajectories for linear kinematic systems with oscillatory internal dynamics is presented. Thereby, kinematic constraints with respect to velocity, acceleration and jerk are taken into…

An algorithm for planning near time-optimal trajectories for systems with an oscillatory internal dynamics has been developed in previous work. It is based on assembling a complete trajectory from motion primitives called jerk segments,…

Neuroscientific studies of drawing-like movements usually analyze neural representation of either geometric (eg. direction, shape) or temporal (eg. speed) features of trajectories rather than trajectory's representation as a whole. This…

Moving our hands smoothly is essential to execute ordinary tasks, such as carrying a glass of water without spilling. Past studies have revealed a natural tendency to generate smooth trajectories when moving the hand from one point to…

In this work, we address the problem of computation time for trajectory generation in quadrotors. Most trajectory generation methods for waypoint navigation of quadrotors, for example minimum snap/jerk and minimum-time, are structured as…

We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool-paths of which are usually complex and have a large number of discrete-time constraints as waypoints. Kinematic redundancy also…

Gyration radius of individual's trajectory plays a key role in quantifying human mobility patterns. Of particular interests, empirical analyses suggest that the growth of gyration radius is slow versus time except the very early stage and…

In this paper, we study how to find rational motions that move a line along a given rational ruled surface. Our goal is to find motions with the lowest possible degree using dual quaternions. While similar problems for point trajectories…

We consider the problem of controlling in minimum time a two-level quantum system which can be subject to a drift. The control is assumed to be bounded in magnitude, and to affect two or three independent generators of the dynamics. We…

The strength of the human hand lies in its ability to manipulate small objects precisely and robustly. In contrast, simple robotic grippers have low dexterity and fail to handle small objects effectively. This is why many automation tasks…

Jerk-constrained trajectories offer a wide range of advantages that collectively improve the performance of robotic systems, including increased energy efficiency, durability, and safety. In this paper, we present a novel approach to…

Exploring the limits of quadruped robot agility, particularly in the context of rapid and real-time planning and execution of omnidirectional jump trajectories, presents significant challenges due to the complex dynamics involved,…

This paper focuses on the analysis of human gait cycle dynamics and presents a mathematical model to determine the torque exerted on the lower limb joints throughout the complete gait cycle, including its various phases. The study involved…

Human motion prediction is an essential part for human-robot collaboration. Unlike most of the existing methods mainly focusing on improving the effectiveness of spatiotemporal modeling for accurate prediction, we take effectiveness and…

In order to safely and efficiently collaborate with humans, industrial robots need the ability to alter their motions quickly to react to sudden changes in the environment, such as an obstacle appearing across a planned trajectory. In…

Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are challenging to calculate due to their deformable nature and…

Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…

Objective The coordination of human movement directly reflects function of the central nervous system. Small deficits in movement are often the first sign of an underlying neurological problem. The objective of this research is to develop a…