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   Articles with "movement primitives" as a keyword



Composite dynamic movement primitives based on neural networks for human–robot skill transfer

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recommendations! 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

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recommendations! 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

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recommendations! 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

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recommendations! 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

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recommendations! 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

Robots Adapting to the Environment: A Review on the Fusion of Dynamic Movement Primitives and Artificial Potential Fields

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recommendations! Published in 2024 at "IEEE Access"

DOI: 10.1109/access.2024.3418573

Abstract: For the development of autonomous robotic systems, Dynamic Movement Primitives (DMP) and Artificial Potential Fields (APF) are two well known techniques. DMPs are a reference algorithm in robotics for one shot learning as they enable… read more here.

Keywords: artificial potential; robots adapting; movement primitives; potential fields ... See more keywords

Human-Robot Variable Impedance Skills Transfer Learning Based on Dynamic Movement Primitives

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recommendations! 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

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recommendations! 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

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recommendations! 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.

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recommendations! 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

A Variable Impedance Skill Learning Algorithm Based on Kernelized Movement Primitives

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recommendations! Published in 2024 at "IEEE Transactions on Industrial Electronics"

DOI: 10.1109/tie.2023.3250746

Abstract: This article proposes a novel learning from demonstrations (LfD) method based on kernelized movement primitives (KMP). The original KMP algorithm is excellent at generalizing and handling high-dimensional inputs, but it is slightly inadequate in reproduction… read more here.

Keywords: movement primitives; variable impedance; based kernelized; kernelized movement ... See more keywords