<XML><RECORDS><RECORD><REFERENCE_TYPE>3</REFERENCE_TYPE><REFNUM>7364</REFNUM><AUTHORS><AUTHOR>Hale,J.G.</AUTHOR><AUTHOR>Pollick,F.E.</AUTHOR></AUTHORS><YEAR>2002</YEAR><TITLE>Biomimetic motion synthesis for the upper limb based on human motor production, Workshop on motor control in humans and robots</TITLE><PLACE_PUBLISHED>Workshop on motor control in humans and robots (SAB 2002), Edinburgh University </PLACE_PUBLISHED><PUBLISHER>Dept of Computing Science, University of Glasgow</PUBLISHER><LABEL>Hale:2002:7364</LABEL><ABSTRACT>We investigate synthetic production of convincing human-like motion for humanoid robots and computer graphics. Standard articulated figure methods are introduced and theories of human motor production and empirical research are surveyed. Fourteen motion production techniques were implemented on a humanoid robot. Twelve correspond to existing human motion production hypotheses (including torque and torque change minimization), and we present two new computationally efficient methods that interpolate optimal postures. We present an analytical solution or arbitrary dimensional trajectories with minimal nth derivative, using it to generate minimum velocity, acceleration, jerk and snap trajectories in Cartesian and joint angle spaces. The formulation is concise and easy to program. </ABSTRACT></RECORD></RECORDS></XML>