Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives
Karlsson, Martin LU ; Robertsson, Anders LU and Johansson, Rolf LU
(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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/74255ac3-ea4e-4d80-afd3-2c412b379635
- author
- Karlsson, Martin
LU
; Robertsson, Anders
LU
and Johansson, Rolf
LU
- organization
- publishing date
- 2017-06-01
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- IEEE International Conference on Robotics and Automation (ICRA), 2017
- pages
- 6 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- external identifiers
-
- scopus:85027988713
- ISBN
- 978-150904633-1
- DOI
- 10.1109/ICRA.2017.7989040
- project
- RobotLab LTH
- SARAFun—Smart Assembly Robot with Advanced FUNctionalities
- language
- English
- LU publication?
- yes
- id
- 74255ac3-ea4e-4d80-afd3-2c412b379635
- date added to LUP
- 2017-03-21 11:24:41
- date last changed
- 2024-02-29 11:43:55
@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 = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives}},
url = {{https://lup.lub.lu.se/search/files/22882999/icra2017_mod.pdf}},
doi = {{10.1109/ICRA.2017.7989040}},
year = {{2017}},
}