Figure 9

Pursuing a jumping target. (a) The target (red stars) begins at position (9.6, 17) cm and moves to (12.6, 15.5) cm. The hand trajectories (solid black line) noticeably change (at clear circles) each time the target jumps. The motion with a stationary initial target is shown (blue dotted line), as well as the motion directly to the final target position (solid blue line) and the trajectory planning motion (green line); (b) the corresponding hand path speeds are shown; (c) hand positions (blue lines) reaching to target positions in space (black lines) with respect to time given for x coordinate, and y coordinate. Notice that the multiple bell-curve speed profile caused by jumping targets matches those for movement via intermediate-targets, as reported in [10].