publication . Conference object . Other literature type . 2019

A correct formulation for the Orientation Dynamic Movement Primitives for robot control in the Cartesian space

Koutras, Leonidas; Doulgeri, Zoe;
Open Access English
  • Published: 01 Nov 2019
Abstract
Dynamic movement primitives (DMP) are an efficient way for learning<br> and reproducing complex robot behaviors. A singularity free DMP formulation<br> for orientation in the Cartesian space is proposed by Ude et al. in 2014 and has been<br> largely adopted by the research community. In this work, we demonstrate the<br> undesired oscillatory behavior that may arise when controlling the robot’s orien-<br> tation with this formulation, producing a motion pattern highly deviant from the<br> desired and highlight its source. A correct formulation is then proposed that alle-<br> viates such problems while guaranteeing generation of orientation parameters that<br> lie...
Subjects
free text keywords: Dynamic Movement Primitives, Control in Orientation Trajectories
Funded by
EC| CoLLaboratE
Project
CoLLaboratE
Co-production CeLL performing Human-Robot Collaborative AssEmbly
  • Funder: European Commission (EC)
  • Project Code: 820767
  • Funding stream: H2020 | RIA
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ZENODO
Conference object . 2019
Provider: ZENODO
Zenodo
Other literature type . 2019
Provider: Datacite
Zenodo
Other literature type . 2019
Provider: Datacite
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