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

Forskningsoutput: Kapitel i bok/rapport/Conference proceeding › Konferenspaper i proceeding › Peer review

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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.

Originalspråk	engelska
Titel på värdpublikation	IEEE International Conference on Robotics and Automation (ICRA), 2017
Utgivningsort	Singapore
Förlag	IEEE - Institute of Electrical and Electronics Engineers Inc.
Sidor	316-321
Antal sidor	6
ISBN (elektroniskt)	978-150904633-1
DOI	https://doi.org/10.1109/ICRA.2017.7989040
Status	Published - 2017 juni 1

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10.1109/ICRA.2017.7989040

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Bagge Carlson, F. (Forskare), Johansson, R. (Forskare), Karlsson, M. (Forskare), Olofsson, B. (Forskare), Robertsson, A. (Forskare), Robertz, S. (Forskare), Haage, M. (Forskare), Malec, J. (Forskare), Nilsson, K. (Forskare), Nugues, P. (Forskare), Stenmark, M. (Forskare), Topp, E. A. (Forskare), Krueger, V. (Forskare), Åström, H. (Forskare), Mayr, M. (Forskare), Salt Ducaju, J. (Forskare), Nishimura, M. (Administratör), Wisbrant, J. (Projektkommunikatör), Dürr, A. (Forskare), Mayr, M. (Forskare), Nugues, P. (Forskare), Klang, M. (Forskningsingenjör), Klöckner, M. (Forskare), Nardi, L. (Forskare), Ahmad, F. (Forskare), Oxenstierna, J. (Forskare), Rizwan, M. (Forskare), Reichenbach, C. (Forskare), Bergström, J. (Forskare), Dell'Unto, N. (Forskare), Maunsbach, L. (Forskare), Åström, K. (Forskare), Blomdell, A. (Forskningsingenjör), Magnusson, M. (Forskare), Fransson, P.-A. (Forskare), Karayiannidis, Y. (Forskare), Johansson, A. T. (Forskare), Jia, Z. (Forskare), Laban, L. (Forskare), Wingqvist, B. (Forskare), Guberina, M. (Forskare), Jena, A. (Forskare), Westin, E. (Administratör), Frick, C. (Administratör), Pisarevskiy, A. (Forskningsingenjör), Nilsson, A. (Forskningsingenjör), Reitmann, S. (Forskare), Hvarfner, C. (Forskare), Stoltenberg, P. (Forskare) & Fregnan, S. (Forskare)
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SARAFun: SARAFun—Smart Assembly Robot with Advanced FUNctionalities
Johansson, R. (PI), Nilsson, K. (PI), Bagge Carlson, F. (Forskarstuderande), Haage, M. (Forskare), Karlsson, M. (Forskarstuderande), Malec, J. (Forskare), Robertsson, A. (Forskare), Stenmark, M. (Forskarstuderande) & Topp, E. A. (Forskare)
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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",

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doi = "10.1109/ICRA.2017.7989040",

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pages = "316--321",

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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. s. 316-321.

Forskningsoutput: Kapitel i bok/rapport/Conference proceeding › Konferenspaper i proceeding › Peer review

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

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

CY - Singapore

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Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives

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