Constraint on center of mass trajectory for motion pattern formation of a kinematic chain

This simulation study examined the effect of the constrained center of mass (COM) trajectory on spatiotemporal organization of the via-angles, i.e., the via-posture of a kinematic chain, in order to explore the determinant of the joint coordination. A minimum-jerk criterion with via-point constraint was used to compute convex COM and angle trajectories for quasi-rising motion of a three-linked model. Optimal via-posture was consistently estimated irrespective of the initial boundary examined here, suggesting a role of COM constraint for organization of the joint coordination.