FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2066707532> ?p ?o ?g. }

• W2066707532 endingPage "690" @default.
• W2066707532 startingPage "677" @default.
• W2066707532 abstract "Models of human movement from computational neuroscience provide a starting point for building a system that can produce flexible adaptive movement on a robot. There have been many computational models of human upper limb movement put forward, each attempting to explain one or more of the stereotypical features that characterize such movements. While these models successfully capture some of the features of human movement, they often lack a compelling biological basis for the criteria they choose to optimize. One that does provide such a basis is the minimum variance model (and its extension—task optimization in the presence of signal-dependent noise). Here, the variance of the hand position at the end of a movement is minimized, given that the control signals on the arm's actuators are subject to random noise with zero mean and variance proportional to the amplitude of the signal. Since large control signals, required to move fast, would have higher amplitude noise, the speed-accuracy trade-off emerges as a direct result of the optimization process. We chose to implement a version of this model that would be suitable for the control of a robot arm, using an optimal control scheme based on the discrete-time linear quadratic regulator. This implementation allowed us to examine the applicability of the minimum variance model to producing humanlike movement. In this paper, we describe our implementation of the minimum variance model, both for point-to-point reaching movements and for more complex trajectories involving via points. We also evaluate its performance in producing humanlike movement and show its advantages over other optimization based models (the well-known minimum jerk and minimum torque-change models) for the control of a robot arm. © 2005 Wiley Periodicals, Inc." @default.
• W2066707532 created "2016-06-24" @default.
• W2066707532 creator A5086095528 @default.
• W2066707532 creator A5090316964 @default.
• W2066707532 date "2005-11-01" @default.
• W2066707532 modified "2023-09-23" @default.
• W2066707532 title "Optimal robot arm control using the minimum variance model" @default.
• W2066707532 cites W1873049249 @default.
• W2066707532 cites W1875476075 @default.
• W2066707532 cites W1885639605 @default.
• W2066707532 cites W1956636948 @default.
• W2066707532 cites W1965386059 @default.
• W2066707532 cites W1966268398 @default.
• W2066707532 cites W1980440818 @default.
• W2066707532 cites W1991387241 @default.
• W2066707532 cites W2008886640 @default.
• W2066707532 cites W2029428797 @default.
• W2066707532 cites W2056147588 @default.
• W2066707532 cites W2064527819 @default.
• W2066707532 cites W2067440245 @default.
• W2066707532 cites W2074665954 @default.
• W2066707532 cites W2078020399 @default.
• W2066707532 cites W2105070643 @default.
• W2066707532 cites W2112745359 @default.
• W2066707532 cites W2136510317 @default.
• W2066707532 cites W2145085065 @default.
• W2066707532 cites W2148245001 @default.
• W2066707532 cites W2153264310 @default.
• W2066707532 cites W2158391167 @default.
• W2066707532 cites W2162103415 @default.
• W2066707532 cites W2162235402 @default.
• W2066707532 cites W2165695188 @default.
• W2066707532 cites W2179427518 @default.
• W2066707532 cites W2541004456 @default.
• W2066707532 cites W632617678 @default.
• W2066707532 cites W996087453 @default.
• W2066707532 hasPublicationYear "2005" @default.
• W2066707532 type Work @default.
• W2066707532 sameAs 2066707532 @default.
• W2066707532 citedByCount "15" @default.
• W2066707532 countsByYear W20667075322012 @default.
• W2066707532 countsByYear W20667075322014 @default.
• W2066707532 countsByYear W20667075322017 @default.
• W2066707532 countsByYear W20667075322018 @default.
• W2066707532 crossrefType "journal-article" @default.
• W2066707532 hasAuthorship W2066707532A5086095528 @default.
• W2066707532 hasAuthorship W2066707532A5090316964 @default.
• W2066707532 hasConcept C10138342 @default.
• W2066707532 hasConcept C105795698 @default.
• W2066707532 hasConcept C115961682 @default.
• W2066707532 hasConcept C121955636 @default.
• W2066707532 hasConcept C139945424 @default.
• W2066707532 hasConcept C144133560 @default.
• W2066707532 hasConcept C150415221 @default.
• W2066707532 hasConcept C154945302 @default.
• W2066707532 hasConcept C162324750 @default.
• W2066707532 hasConcept C165646398 @default.
• W2066707532 hasConcept C196083921 @default.
• W2066707532 hasConcept C198082294 @default.
• W2066707532 hasConcept C199360897 @default.
• W2066707532 hasConcept C2775924081 @default.
• W2066707532 hasConcept C2779843651 @default.
• W2066707532 hasConcept C33923547 @default.
• W2066707532 hasConcept C41008148 @default.
• W2066707532 hasConcept C47446073 @default.
• W2066707532 hasConcept C99498987 @default.
• W2066707532 hasConceptScore W2066707532C10138342 @default.
• W2066707532 hasConceptScore W2066707532C105795698 @default.
• W2066707532 hasConceptScore W2066707532C115961682 @default.
• W2066707532 hasConceptScore W2066707532C121955636 @default.
• W2066707532 hasConceptScore W2066707532C139945424 @default.
• W2066707532 hasConceptScore W2066707532C144133560 @default.
• W2066707532 hasConceptScore W2066707532C150415221 @default.
• W2066707532 hasConceptScore W2066707532C154945302 @default.
• W2066707532 hasConceptScore W2066707532C162324750 @default.
• W2066707532 hasConceptScore W2066707532C165646398 @default.
• W2066707532 hasConceptScore W2066707532C196083921 @default.
• W2066707532 hasConceptScore W2066707532C198082294 @default.
• W2066707532 hasConceptScore W2066707532C199360897 @default.
• W2066707532 hasConceptScore W2066707532C2775924081 @default.
• W2066707532 hasConceptScore W2066707532C2779843651 @default.
• W2066707532 hasConceptScore W2066707532C33923547 @default.
• W2066707532 hasConceptScore W2066707532C41008148 @default.
• W2066707532 hasConceptScore W2066707532C47446073 @default.
• W2066707532 hasConceptScore W2066707532C99498987 @default.
• W2066707532 hasIssue "11" @default.
• W2066707532 hasLocation W20667075321 @default.
• W2066707532 hasOpenAccess W2066707532 @default.
• W2066707532 hasPrimaryLocation W20667075321 @default.
• W2066707532 hasRelatedWork W1885639605 @default.
• W2066707532 hasRelatedWork W1956636948 @default.
• W2066707532 hasRelatedWork W1980440818 @default.
• W2066707532 hasRelatedWork W1981848629 @default.
• W2066707532 hasRelatedWork W1988912281 @default.
• W2066707532 hasRelatedWork W2029094773 @default.
• W2066707532 hasRelatedWork W2054696128 @default.
• W2066707532 hasRelatedWork W2064527819 @default.
• W2066707532 hasRelatedWork W2067440245 @default.

• next