Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives

Martin Karlsson, Anders Robertsson, Rolf Johansson

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

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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.
Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Automation (ICRA), 2017
Place of PublicationSingapore
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages316-321
Number of pages6
ISBN (Electronic)978-150904633-1
DOIs
Publication statusPublished - 2017 Jun 1

Subject classification (UKÄ)

  • Control Engineering

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