Effect of preliminary motions on agile motions

Kazutoshi Tanaka, Satoshi Nishikawa, Yasuo Kuniyoshi

Research output: Contribution to conferencePaperpeer-review

2 Citations (Scopus)


Robots must complete motions in a short time in uncertain and variable real world environments. However, uncertainty in the real world has only rarely been considered in studies of agile motions by robots. Consequently, methods for agile motions incorporating uncertainty must be proposed. Preceding agile motions, human preparatory motions (preliminary motions) are often observed. For insight, we specifically addressed human preliminary motions as preparation for agile motion. The effect of preliminary motions on human agile motions has been studied in sports biomechanics. However, no general model of preliminary motion has been proposed. Consequently, findings related to human preliminary motions are difficult to apply to robots. Therefore, we proposed a numerical model of preliminary motions to verify the effect of preliminary motions on robots' agile motions in numerical simulations. Using simulations, we investigated the completion time for reaching motions by simple robot arms. Results showed that robots can prepare and move quickly to an uncertain target using our proposed method of preliminary motions.

Original languageEnglish
Publication statusPublished - 2013
Externally publishedYes
Event2013 16th International Conference on Advanced Robotics, ICAR 2013 - Montevideo, Uruguay
Duration: Nov 25 2013Nov 29 2013


Conference2013 16th International Conference on Advanced Robotics, ICAR 2013

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software


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