Conference paper Open Access

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

Koutras, Leonidas; Doulgeri, Zoe


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{
  "inLanguage": {
    "alternateName": "eng", 
    "@type": "Language", 
    "name": "English"
  }, 
  "description": "<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>", 
  "license": "https://creativecommons.org/licenses/by/4.0/legalcode", 
  "creator": [
    {
      "affiliation": "Aristotle University of Thessaloniki", 
      "@id": "https://orcid.org/0000-0002-3521-6958", 
      "@type": "Person", 
      "name": "Koutras, Leonidas"
    }, 
    {
      "affiliation": "Aristotle University of Thessaloniki", 
      "@id": "https://orcid.org/0000-0003-2188-9358", 
      "@type": "Person", 
      "name": "Doulgeri, Zoe"
    }
  ], 
  "headline": "A correct formulation for the Orientation Dynamic Movement Primitives for robot control in the Cartesian space", 
  "image": "https://zenodo.org/static/img/logos/zenodo-gradient-round.svg", 
  "datePublished": "2019-11-01", 
  "url": "https://zenodo.org/record/3537791", 
  "@type": "ScholarlyArticle", 
  "keywords": [
    "Dynamic Movement Primitives", 
    "Control in Orientation Trajectories"
  ], 
  "@context": "https://schema.org/", 
  "identifier": "https://doi.org/10.5281/zenodo.3537791", 
  "@id": "https://doi.org/10.5281/zenodo.3537791", 
  "workFeatured": {
    "url": "https://www.robot-learning.org/", 
    "alternateName": "CoRL", 
    "location": "Osaka, Japan", 
    "@type": "Event", 
    "name": "Conference on Robot Learning"
  }, 
  "name": "A correct formulation for the Orientation Dynamic Movement Primitives for robot control in the Cartesian space"
}
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