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Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives

Karlsson, Martin LU ; Robertsson, Anders LU and Johansson, Rolf LU (2017) In IEEE International Conference on Robotics and Automation (ICRA), 2017 p.316-321
Abstract
The concept of dynamical movement primitives (DMPs) has become popular for modeling of motion, commonly applied to robots. This paper presents a framework that allows a robot operator to adjust DMPs in an intuitive way. Given a generated trajectory with a faulty last part, the operator can use lead-through programming to demonstrate a corrective trajectory. A modified DMP is formed, based on the first part of the faulty trajectory and the last part of the corrective one. A real-time application is presented and verified experimentally.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
IEEE International Conference on Robotics and Automation (ICRA), 2017
pages
6 pages
publisher
Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • scopus:85027988713
ISBN
978-150904633-1
DOI
10.1109/ICRA.2017.7989040
language
English
LU publication?
yes
id
74255ac3-ea4e-4d80-afd3-2c412b379635
date added to LUP
2017-03-21 11:24:41
date last changed
2018-03-12 18:20:22
@inproceedings{74255ac3-ea4e-4d80-afd3-2c412b379635,
  abstract     = {The concept of dynamical movement primitives (DMPs) has become popular for modeling of motion, commonly applied to robots. This paper presents a framework that allows a robot operator to adjust DMPs in an intuitive way. Given a generated trajectory with a faulty last part, the operator can use lead-through programming to demonstrate a corrective trajectory. A modified DMP is formed, based on the first part of the faulty trajectory and the last part of the corrective one. A real-time application is presented and verified experimentally.},
  author       = {Karlsson, Martin and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {IEEE International Conference on Robotics and Automation (ICRA), 2017},
  isbn         = {978-150904633-1},
  language     = {eng},
  month        = {06},
  pages        = {316--321},
  publisher    = {Institute of Electrical and Electronics Engineers Inc.},
  title        = {Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives},
  url          = {http://dx.doi.org/10.1109/ICRA.2017.7989040},
  year         = {2017},
}