Chapter 2. Prehension

100 THE PHASES OF PREHENSION
Figure 4.15 Simulation run of Iberall Approach Vector Selector
model. A time course trace is seen starting at (a) initial state,
then (b) after 11 time-constants, and finally (c) at convergence in
27 time-constants after initialization. The peak formed indicates a
reasonable (within the constraints modelled) and desired solution
for the location of the wrist. The model has converged on the
solution rd = 140 mm and fd = 1.4 radians relative to the object
(from Iberall, 1987a; reprinted by permission).