Biomimetic trajectory generation of robots using time base generator

The human-like trajectory of robots for manipulating a nonholonomic car is generated. In order to reveal what kind of trajectories the robots should generate on the task, experiments with subjects were performed. 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 based trajectory generation method. Finally, simulation results are shown and compared with the trajectories.