Optimization-based trajectory planning of the human upper body

This paper presents studies of the coordination of human upper body voluntary movement. A minimum-jerk 3D model is used to obtain the desired path in Cartesian space, which is widely used in the prediction of human reach movement. Instead of inverse kinematics, a direct optimization approach is used...

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Bibliographic Details

Published in:	Robotica Vol. 24; no. 6; pp. 683 - 696
Main Authors:	Abdel-Malek, Karim, Mi, Zan, Yang, Jingzhou, Nebel, Kyle
Format:	Journal Article
Language:	English
Published:	Cambridge, UK Cambridge University Press 01.11.2006
Subjects:	B-splines Biomechanics Cartesian space Direct optimization-based method Joint space Minimum jerk Planning trajectory Planning trajectory Biomechanics Cartesian space Minimum jerk Direct optimization-based method Joint space B-splines
ISSN:	0263-5747, 1469-8668
Online Access:	Get full text
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