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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 IFAC-PapersOnLine 50(1). p.1923-1930
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.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to journal
publication status
published
subject
in
IFAC-PapersOnLine
volume
50
issue
1
pages
1923 - 1930
publisher
IFAC Secretariat
conference name
20th IFAC World Congress, 2017
external identifiers
  • scopus:85031822742
ISSN
2405-8963
DOI
10.1016/j.ifacol.2017.08.383
language
English
LU publication?
yes
id
f38aca56-3879-4d03-b629-d9885bc0c404
date added to LUP
2017-06-12 11:17:23
date last changed
2018-10-03 12:15:32
@article{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},
  issn         = {2405-8963},
  language     = {eng},
  month        = {07},
  number       = {1},
  pages        = {1923--1930},
  publisher    = {IFAC Secretariat},
  series       = {IFAC-PapersOnLine},
  title        = {Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives},
  url          = {http://dx.doi.org/10.1016/j.ifacol.2017.08.383},
  volume       = {50},
  year         = {2017},
}