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The contents of this report reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein. The contents do not necessarily reflect the official views or policies of the State of California. This report does not constitute a standard, specification, or regulation. Executive Summary The project " Lateral(More)
We investigated the differences between two well-known optimization principles for understanding movement planning: the minimum variance (MV) model of Harris and Wolpert (1998) and the minimum torque change (MTC) model of Uno, Kawato, and Suzuki (1989). Both models accurately describe the properties of human reaching movements in ordinary situations (e.g.,(More)
In this paper, a method of deriving reduced dynamic models for a class of nonholonomically constrained systems that are described on semidirect products is developed. The theory is built upon the Lagrangian reduction method for unconstrained systems on semidirect products and the Lagrangian reduction theory for nonholonomic systems defined on symmetry(More)
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