Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives

Martin Karlsson; Anders Robertsson; Rolf Johansson

doi:10.1109/ICRA.2017.7989040

Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives

Martin Karlsson, Anders Robertsson, Rolf Johansson

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-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 language	English
Title of host publication	IEEE International Conference on Robotics and Automation (ICRA), 2017
Place of Publication	Singapore
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	316-321
Number of pages	6
ISBN (Electronic)	978-150904633-1
DOIs	https://doi.org/10.1109/ICRA.2017.7989040
Publication status	Published - 2017 Jun 1

Subject classification (UKÄ)

Control Engineering

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10.1109/ICRA.2017.7989040

icra2017

Cite this

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title = "Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives",

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 = "Martin Karlsson and Anders Robertsson and Rolf Johansson",

year = "2017",

month = jun,

day = "1",

doi = "10.1109/ICRA.2017.7989040",

language = "English",

pages = "316--321",

booktitle = "IEEE International Conference on Robotics and Automation (ICRA), 2017",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

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Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives. / Karlsson, Martin; Robertsson, Anders; Johansson, Rolf.
IEEE International Conference on Robotics and Automation (ICRA), 2017. Singapore: IEEE - Institute of Electrical and Electronics Engineers Inc., 2017. p. 316-321.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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AU - Robertsson, Anders

AU - Johansson, Rolf

PY - 2017/6/1

Y1 - 2017/6/1

N2 - 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.

AB - 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.

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DO - 10.1109/ICRA.2017.7989040

M3 - Paper in conference proceeding

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EP - 321

BT - IEEE International Conference on Robotics and Automation (ICRA), 2017

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

CY - Singapore

ER -

Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives

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Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives

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