DocumentCode :
2689978
Title :
Modified dynamic movement primitives for joining movement sequences
Author :
Kulvicius, Tomas ; Ning, KeJun ; Tamosiunaite, Minija ; Wörgötter, Florentin
Author_Institution :
Bernstein Center for Comput. Neurosci., Georg-August-Univ. Gottingen, Gottingen, Germany
fYear :
2011
fDate :
9-13 May 2011
Firstpage :
2275
Lastpage :
2280
Abstract :
The generation of complex movement patterns, in particular in cases where one needs to smoothly and accurately join trajectories, is still a difficult problem in robotics. This paper presents a novel approach for joining of several dynamic movement primitives (DMPs) based on a modification of the original formulation for DMPs. The new method produces smooth and natural transitions in position as well as velocity space. The properties of the method are demonstrated by applying it to simulated handwriting generation implemented on a robot, where an adaptive algorithm is used to learn trajectories from human demonstration. These results demonstrate that the new method is a feasible alternative for trajectory learning and generation and its accuracy and modular character has potential for various robotics applications.
Keywords :
position control; robot dynamics; DMP; adaptive algorithm; dynamic movement primitives; handwriting generation; human demonstration; joining movement sequences; modular character; trajectory generation; trajectory learning; velocity space; Accuracy; Joints; Junctions; Kernel; Robots; Training; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
ISSN :
1050-4729
Print_ISBN :
978-1-61284-386-5
Type :
conf
DOI :
10.1109/ICRA.2011.5979716
Filename :
5979716
Link To Document :
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