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Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives

Karlsson, Martin LU ; Bagge Carlson, Fredrik LU ; Robertsson, Anders LU and Johansson, Rolf LU (2017) 20th IFAC World Congress, 2017 In 20th IFAC World Congress, 2017
Abstract
Modeling of robot motion as dynamical movement primitives (DMPs) has become
an important framework within robot learning and control. The ability of DMPs to adapt online with respect to the surroundings, e.g., to moving targets, has been used and developed by several researchers. In this work, a method for handling perturbations during execution of DMPs on robots was developed. Two-degree-of-freedom control was introduced in the DMP context, for reference trajectory tracking and perturbation recovery. Benefits compared to the state of the art were demonstrated. The functionality of the method was verified in simulations and in real-world experiments.
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Chapter in Book/Report/Conference proceeding
publication status
in press
in
20th IFAC World Congress, 2017
conference name
20th IFAC World Congress, 2017
language
English
LU publication?
yes
id
f38aca56-3879-4d03-b629-d9885bc0c404
date added to LUP
2017-06-12 11:17:23
date last changed
2017-06-17 18:15:27
@inproceedings{f38aca56-3879-4d03-b629-d9885bc0c404,
  abstract     = {Modeling of robot motion as dynamical movement primitives (DMPs) has become<br/>an important framework within robot learning and control. The ability of DMPs to adapt online with respect to the surroundings, e.g., to moving targets, has been used and developed by several researchers. In this work, a method for handling perturbations during execution of DMPs on robots was developed. Two-degree-of-freedom control was introduced in the DMP context, for reference trajectory tracking and perturbation recovery. Benefits compared to the state of the art were demonstrated. The functionality of the method was verified in simulations and in real-world experiments.},
  author       = {Karlsson, Martin and Bagge Carlson, Fredrik and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {20th IFAC World Congress, 2017},
  language     = {eng},
  month        = {07},
  title        = {Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives},
  year         = {2017},
}