November 1, 2019 Conference paper Open Access

Koutras, Leonidas; Doulgeri, Zoe

DCAT Export

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        <foaf:name>Koutras, Leonidas</foaf:name>
        <foaf:givenName>Leonidas</foaf:givenName>
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        <foaf:name>Doulgeri, Zoe</foaf:name>
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    <dct:title>A correct formulation for the Orientation Dynamic Movement Primitives for robot control in the Cartesian space</dct:title>
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    <dcat:keyword>Dynamic Movement Primitives</dcat:keyword>
    <dcat:keyword>Control in Orientation Trajectories</dcat:keyword>
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    <dct:description>&lt;p&gt;Dynamic movement primitives (DMP) are an efficient way for learning&lt;br&gt; and reproducing complex robot behaviors. A singularity free DMP formulation&lt;br&gt; for orientation in the Cartesian space is proposed by Ude et al. in 2014 and has been&lt;br&gt; largely adopted by the research community. In this work, we demonstrate the&lt;br&gt; undesired oscillatory behavior that may arise when controlling the robot&amp;rsquo;s orien-&lt;br&gt; tation with this formulation, producing a motion pattern highly deviant from the&lt;br&gt; desired and highlight its source. A correct formulation is then proposed that alle-&lt;br&gt; viates such problems while guaranteeing generation of orientation parameters that&lt;br&gt; lie in SO(3). We further show that all aspects and advantages of DMP including&lt;br&gt; ease of learning, temporal and spatial scaling and the ability to include coupling&lt;br&gt; terms are maintained in the proposed formulation. Simulations and experiments&lt;br&gt; with robot control in SO(3) are performed to demonstrate the performance of the&lt;br&gt; proposed formulation and compare it with the previously adopted one.&lt;/p&gt;</dct:description>
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