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Smoothly Transitioning Between Ballistic and Corrective Control to Produce Human-Like Movement

[+] Author Affiliations
Jeffrey N. Shelton, George T.-C. Chiu

Purdue University, West Lafayette, IN

James A. Mynderse

Lawrence Technical University, Southfield, MI

Paper No. DSCC2013-3962, pp. V001T10A004; 9 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5612-3
  • Copyright © 2013 by ASME


Human reaching movement appears to consist of an initial ballistic segment that drives the hand toward the target, then a corrective segment that brings the hand into the target region. This article discusses how the motions produced by two different controllers, one guiding the ballistic portion and one directing the corrective potion, can be merged into a single smooth movement that is reminiscent of human reaching. Simulated movements based on the proposed methodology are shown to be consistent with human kinematic trajectories.

Copyright © 2013 by ASME



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