Advanced Motion as a Hybrid System

作者：Suzuki Tatsuya^*

来源：Electronics and Communications in Japan, 2010, 93(12): 35-43.

DOI：10.1002/ecj.10236

• hybrid dynamical system
• advanced complex motion
• parameter estimation
• symbolic grounding

This paper presents a modeling and analysis strategy for advanced complex human motion based on a hybrid system framework. The motion modeling problem is addressed as a parameter estimation problem under the piecewise ARX model, which is a class of hybrid dynamical system. The advantages of motion modeling based on hybrid dynamics are: (1) complex dynamical behavior can be represented in terms of dynamical primitives together with the mechanism of switching between them; (2) the resulting model may be useful for various applications, such as the design of assist controllers, recognition of human behavior, and so on. Finally, the newly developed strategy is applied to a driver's vehicle following task and a peg-in-hole task, which represent two typical classes of complex human motion. The results obtained show the usefulness of hybrid dynamics for representing complex human motion.

• 出版日期2010-12