November 1, 2019 Conference paper Open Access

Koutras, Leonidas; Doulgeri, Zoe

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  <identifier identifierType="DOI">10.5281/zenodo.3537791</identifier>
  <creators>
    <creator>
      <creatorName>Koutras, Leonidas</creatorName>
      <givenName>Leonidas</givenName>
      <familyName>Koutras</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-3521-6958</nameIdentifier>
      <affiliation>Aristotle University of Thessaloniki</affiliation>
    </creator>
    <creator>
      <creatorName>Doulgeri, Zoe</creatorName>
      <givenName>Zoe</givenName>
      <familyName>Doulgeri</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0003-2188-9358</nameIdentifier>
      <affiliation>Aristotle University of Thessaloniki</affiliation>
    </creator>
  </creators>
  <titles>
    <title>A correct formulation for the Orientation Dynamic Movement Primitives for robot control in the Cartesian space</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2019</publicationYear>
  <subjects>
    <subject>Dynamic Movement Primitives</subject>
    <subject>Control in Orientation Trajectories</subject>
  </subjects>
  <dates>
    <date dateType="Issued">2019-11-01</date>
  </dates>
  <language>en</language>
  <resourceType resourceTypeGeneral="Text">Conference paper</resourceType>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/3537791</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsVersionOf">10.5281/zenodo.3537790</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="URL" relationType="IsPartOf">https://zenodo.org/communities/collaborate_project</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="https://creativecommons.org/licenses/by/4.0/legalcode">Creative Commons Attribution 4.0 International</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&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;</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/501100000780</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/820767/">820767</awardNumber>
      <awardTitle>Co-production CeLL performing Human-Robot Collaborative AssEmbly</awardTitle>
    </fundingReference>
  </fundingReferences>
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