Conference paper Open Access

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

Koutras, Leonidas; Doulgeri, Zoe


Citation Style Language JSON Export

{
  "publisher": "Zenodo", 
  "DOI": "10.5281/zenodo.3537791", 
  "language": "eng", 
  "title": "A correct formulation for the Orientation Dynamic Movement Primitives for robot control in the Cartesian space", 
  "issued": {
    "date-parts": [
      [
        2019, 
        11, 
        1
      ]
    ]
  }, 
  "abstract": "<p>Dynamic movement primitives (DMP) are an efficient way for learning<br>\nand reproducing complex robot behaviors. A singularity free DMP formulation<br>\nfor orientation in the Cartesian space is proposed by Ude et al. in 2014 and has been<br>\nlargely adopted by the research community. In this work, we demonstrate the<br>\nundesired oscillatory behavior that may arise when controlling the robot&rsquo;s orien-<br>\ntation with this formulation, producing a motion pattern highly deviant from the<br>\ndesired and highlight its source. A correct formulation is then proposed that alle-<br>\nviates such problems while guaranteeing generation of orientation parameters that<br>\nlie in SO(3). We further show that all aspects and advantages of DMP including<br>\nease of learning, temporal and spatial scaling and the ability to include coupling<br>\nterms are maintained in the proposed formulation. Simulations and experiments<br>\nwith robot control in SO(3) are performed to demonstrate the performance of the<br>\nproposed formulation and compare it with the previously adopted one.</p>", 
  "author": [
    {
      "family": "Koutras, Leonidas"
    }, 
    {
      "family": "Doulgeri, Zoe"
    }
  ], 
  "id": "3537791", 
  "event-place": "Osaka, Japan", 
  "type": "paper-conference", 
  "event": "Conference on Robot Learning (CoRL)"
}
165
101
views
downloads
All versions This version
Views 165165
Downloads 101101
Data volume 351.0 MB351.0 MB
Unique views 148148
Unique downloads 9191

Share

Cite as