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Representing moveme...
Representing movement primitives as implicit dynamical systems learned from multiple demonstrations
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- Krug, Robert, 1981- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS
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- Dimitar, Dimitrov (författare)
- Institut National de Recherche en Informatique et Automatique (INRIA) Rhone Alpes, Grenoble, France,AASS
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(creator_code:org_t)
- IEEE, 2013
- 2013
- Engelska.
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Ingår i: Proceedings of the International Conference on Advanced Robotics (ICAR). - : IEEE. - 9781479927227 ; , s. 1-8
- Relaterad länk:
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https://oru.diva-por... (primary) (Raw object)
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- This work deals with the problem of parameter estimation of dynamical systems intended to model demonstrated motion profiles for a system of interest. The regression problem is formulated as a constrained nonlinear least squares problem. We present an approach that extends the concept of dynamical movement primitives to account for multiple demonstrations of a motion. We maintain an implicit dynamical system that resembles the demonstrated trajectories in a locally optimal way. This is achieved by solving a quadratic program (that encodes our notion of resemblance) at each sampling time step. Our method guarantees predictable state evolution even in regions of the state space not covered by the demonstrations.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Nyckelord
- Robotics
- Motion Control
- Motion Planning
- Embedded Optimization
- Computer Science
- Datavetenskap
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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