Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives
(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}}, }