Abstract
Humans achieve reaching movements even when environment changes unexpectedly, by coordinating redundant joints of an arm in real-time. To realize such adaptability, we have proposed a new reaching model, in which instantaneous joint motion is determined based on local optimality of joint mobility. To study efficiency of our model, here, we compare our model to the minimum torque change model (Uno et al.,1989). Simulated results indicate that resulted trajectories by the two models are qualitatively almost similar, suggesting that a strategy to use a mobile joint dominantly is effective in generating a globally optimal motion.
