Bio-mimetic Trajectory Generation Using a Neural Time-Base Generator

摘要

This paper presents a neural time-base generator (TBG) that can generate a family of neural control signals with a controllable finite duration and bell-shaped velocity profile. Then, a bio-mimetic trajectory generation method using the neural TBG model is explained. Using the proposed model, the generation ability of human-like trajectories is examined through comparisons between computer simulations and human arm trajectories during reaching movements according to the curvature of constrained trajectories.