Hamiltonの原理に基づく自然な軌道の計画手法
力学変数の変数変換
2006 年 42 巻 1 号 p. 1-10
詳細
2006 年 42 巻 1 号 p. 1-10
Recently, many studies have been carried out on determining the model of human motor control. Proposed criteria are based on physiological observations. In this paper, a novel motion generation method is proposed purely based on a mechanical principle, Hamilton's principle, in contrast to the former studies. The method is derived through expressing the generalized coordinates as a time differentiation of variables that are its time integration. This preserves the structure of Hamilton's principle, which is expected to account for natural appearance of motion. Numerical examples of human arm reaching movement will be shown for comparison with a physiologically studied motor control model and also commonly used optimization methods.
