A mathematical analysis of the minimum variance model of human-like reaching movements

Mikhail Svinin; Motoji Yamamoto

doi:10.1109/IROS.2011.6048824

A mathematical analysis of the minimum variance model of human-like reaching movements

Mikhail Svinin, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

The paper deals with modeling of human-like reaching movements using a probabilistic minimum variance model. A continuous formulation of the minimum variance model is developed and analyzed. The model features a parameter, having the meaning of the post-movement time period, whose assignment in a systematic way is not evident. To facilitate the situation and avoid the explicit specification of this parameter, the limiting case of the post-movement period tending to infinity is analyzed for several classes of the control plant. A connection between this limiting model and the conventional minimum control effort model is also established.

Original language	English
Title of host publication	IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Celebrating 50 Years of Robotics
Pages	4386-4391
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2011.6048824
Publication status	Published - Dec 29 2011
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States Duration: Sept 25 2011 → Sept 30 2011

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/Territory	United States
City	San Francisco, CA
Period	9/25/11 → 9/30/11

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2011.6048824

Cite this

Svinin, M., & Yamamoto, M. (2011). A mathematical analysis of the minimum variance model of human-like reaching movements. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 4386-4391). Article 6048824 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048824

A mathematical analysis of the minimum variance model of human-like reaching movements. / Svinin, Mikhail; Yamamoto, Motoji.
IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 4386-4391 6048824 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Svinin, M & Yamamoto, M 2011, A mathematical analysis of the minimum variance model of human-like reaching movements. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048824, IEEE International Conference on Intelligent Robots and Systems, pp. 4386-4391, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 9/25/11. https://doi.org/10.1109/IROS.2011.6048824

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A mathematical analysis of the minimum variance model of human-like reaching movements

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