Composite dynamic movement primitives based on neural networks for human–robot skill transfer
Sign Up to like & getrecommendations! Published in 2021 at "Neural Computing and Applications"
DOI: 10.1007/s00521-021-05747-8
Abstract: In this paper, composite dynamic movement primitives (DMPs) based on radial basis function neural networks (RBFNNs) are investigated for robots’ skill learning from human demonstrations. The composite DMPs could encode the position and orientation manipulation… read more here.
Keywords: movement primitives; composite dynamic; neural networks; human robot ... See more keywords
Compliant Parametric Dynamic Movement Primitives
Sign Up to like & getrecommendations! Published in 2019 at "Robotica"
DOI: 10.1017/s026357471900078x
Abstract: Summary In this paper, we propose and implement an advanced manipulation framework that enables parametric learning of complex action trajectories along with their haptic feedback profiles. Our framework extends Dynamic Movement Primitives (DMPs) method with… read more here.
Keywords: movement primitives; movement; feedback; force feedback ... See more keywords
Probabilistic movement primitives under unknown system dynamics
Sign Up to like & getrecommendations! Published in 2018 at "Advanced Robotics"
DOI: 10.1080/01691864.2018.1437674
Abstract: Physical interaction requires robots to accurately follow kinematic trajectories while modulating the interaction forces to accomplish tasks and to be safe to the environment. However, current approaches rely on accurate physical models or iterative learning… read more here.
Keywords: movement primitives; movement; system dynamics; interaction ... See more keywords
Human Intention Understanding From Multiple Demonstrations and Behavior Generalization in Dynamic Movement Primitives Framework
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2905051
Abstract: Human’s interference in the process of skill learning can improve the performance of the robot greatly. However, learning from demonstration to generate a new action with human behavioral characteristics in the varying situation is challenging.… read more here.
Keywords: movement primitives; method; generalization; dynamic movement ... See more keywords
Incremental Learning Introspective Movement Primitives From Multimodal Unstructured Demonstrations
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2947529
Abstract: Learning movement primitive from unstructured demonstrations has become a popular topic in recent years, which provides a natural way to endow human-inspired skills to robots. The main idea of movement primitives is that should suffice… read more here.
Keywords: movement primitives; manipulation; movement; task ... See more keywords
Human-Robot Variable Impedance Skills Transfer Learning Based on Dynamic Movement Primitives
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3154469
Abstract: Endowing robots with human-like abilities to perform motor skills smoothly and naturally is one of the important goals of robotics. Learning from demonstration (LfD) has been successfully applied for learning tasks on robots, for which… read more here.
Keywords: movement; robotics; movement primitives; dynamic movement ... See more keywords
Learning and Generalizing Cooperative Manipulation Skills Using Parametric Dynamic Movement Primitives
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2022.3141460
Abstract: This paper presents an approach that generates the overall trajectory of mobile manipulators for a complex mission consisting of several sub-tasks. Parametric dynamic movement primitives (PDMPs) can quickly generalize the online motion of robot manipulation… read more here.
Keywords: parametric dynamic; movement primitives; dynamic movement; mission ... See more keywords
Reactive Task Adaptation of a Dynamic System With External Disturbances Based on Invariance Control and Movement Primitives
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Cognitive and Developmental Systems"
DOI: 10.1109/tcds.2021.3094982
Abstract: This article proposes a general control framework for robot physical contact tasks. To satisfy the tradeoff between safety and performance in the interaction between robots and the environment, multipriority control is regarded as a preemptive… read more here.
Keywords: movement primitives; invariance control; control; task ... See more keywords
Modified Dynamic Movement Primitives: Robot Trajectory Planning and Force Control Under Curved Surface Constraints.
Sign Up to like & getrecommendations! Published in 2022 at "IEEE transactions on cybernetics"
DOI: 10.1109/tcyb.2022.3158029
Abstract: Dynamic movement primitives (DMPs) have been widely applied in robot motion planning and control. However, in some special cases, original discrete DMP fails to generalize proper trajectories. Moreover, it is difficult to produce trajectories on… read more here.
Keywords: movement primitives; dynamic movement; control; force ... See more keywords
Robot Learning System Based on Adaptive Neural Control and Dynamic Movement Primitives
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Neural Networks and Learning Systems"
DOI: 10.1109/tnnls.2018.2852711
Abstract: This paper proposes an enhanced robot skill learning system considering both motion generation and trajectory tracking. During robot learning demonstrations, dynamic movement primitives (DMPs) are used to model robotic motion. Each DMP consists of a… read more here.
Keywords: movement primitives; learning system; robot learning; dynamic movement ... See more keywords
Interaction learning control with movement primitives for lower limb exoskeleton
Sign Up to like & getrecommendations! Published in 2022 at "Frontiers in Neurorobotics"
DOI: 10.3389/fnbot.2022.1086578
Abstract: Research on robotic exoskeletons both in the military and medical fields has rapidly expanded over the previous decade. As a human–robot interaction system, it is a challenge to develop an assistive strategy that makes the… read more here.
Keywords: interaction; movement primitives; control; interaction learning ... See more keywords