In this paper, the human-like trajectory of robots for manipulating a holding nonholonomic car is generated. In order to reveal what kind of trajectories the robots should generate on the task, the experiments with subjects were performed. Then,it is shown that a human generates the trajectories with a single-peaked and a double-peaked velocity profile. By modeling these primitive profiles with a Time Base Generator (TBG), the human-like trajectory for the robots is generated with the TBG basedtrajectory generation method. Finally, simulation results are shown and compared with the human trajectories.
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