Sharif Digital Repository

Human motion planning studies are of considerable importance in producing human-like trajectories for various industrial or clinical applications (e.g. assistive robots). In this case, the capability of Central Nervous System (CNS) in generating a large repertoire of actions can be inspirational to develop more efficient motion planning approaches. Here, inspired by structural and functional modularity in the CNS, a novel modular and hierarchical model is developed to plan the sit-to-stand (STS) transfer under varying environmental conditions. In this model, the planning process is distributed among several functionally simple modules. The cooperation of modules enables the model to plan the...