Joining movement sequences: Modified dynamic movement primitives for robotics applications exemplified on handwriting

IEEE Transactions on Robotics

Volumn 28, Issue 1, 2012, Pages 145-157

  Kulvicius, Tomas ^a   Ning, Kejun ^a   Tamosiunaite, Minija ^a,b   Wörgötter, Florentin ^a  

^a UNIVERSITY OF GÖTTINGEN   (Germany)

^b VYTAUTAS MAGNUS UNIVERSITY   (Lithuania)

Author keywords

Delta learning rule; handwriting generation; joining of dynamic movement primitives (DMPs); overlapping kernels

Indexed keywords

COMPLEX MOVEMENT PATTERNS; DELTA LEARNING; DYNAMIC MOVEMENT PRIMITIVES; FEASIBLE ALTERNATIVES; HANDWRITING GENERATION; HIGH POTENTIAL; JOINING METHOD; NATURAL TRANSITION; OVERLAPPING KERNELS; ROBOTICS APPLICATIONS; TARGET TRAJECTORY; VELOCITY PROFILES;

ADAPTIVE ALGORITHMS; ROBOTICS; TRAJECTORIES;

JOINING;

EID: 84857033699     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2163863     Document Type: Article

References (28)

1. R. H. Castain R. P. Paul An on-line dynamic trajectory generator Int. J. Robot. Res. 3 1 68-72 1984.
2. B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control. New York: Springer-Verlag, 2009.
3. S. M. Khansari-Zadeh and A. Billard, "BM: An iterative method to learn stable non-linear dynamical systems with Gaussian mixture models," in Proc. IEEE Int. Conf. Robot. Autom. , 2010, pp. 2381-2388.
4. J. A. Ijspeert, J. Nakanishi, and S. Schaal, "Movement imitation with nonlinea r dynamical systems in humanoid robots," in Proc. IEEE Int. Conf. Robot. Autom. , 2002, pp. 1398-1403. (Pubitemid 34916443)
5. J. Nakanishi, J.Morimoto, G. Endo, G. Cheng, S. Schaal, andM. Kawato, "Learning from demonstration and adaptation of biped locomotion," Robot. Auton. Syst. , vol. 47, nos. 2-3, pp. 79-91, 2004.
6. J.-X. Xu, W. Wang, P. Vadakkepat, and L. W. Yee, "ANN based internal mod el approach to motor learning for humanoid robot," in Proc. Int. Joint Conf. Neural Netw. , 2006, pp. 4179-4186. (Pubitemid 351369891)
7. B.E. Perk and J. J. E. Slotine, "Motion primitives for robotic flight control, " Cornell Univ., Ithaca, NY, Rep. cs/0609140, Sep. 2008.
8. S. Schaal, P. Mohajerian, and A. Ijspeert, "Dynamics systems vs. optimal control-A unifying view," Prog. Brain Res. , vol. 165, pp. 425-445, 2007. (Pubitemid 47513886)
9. J. Peters and S. Schaal, "Reinforcement learning of motor skills with policy gradients," Neural Netw. , vol. 21, no. 4, pp. 682-697, 2008.
10. Park D.-H., Hoffmann H., Pastor P., Schaal S. Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields Proc. 8th IEEE-RAS Int. Conf. Humanoid Robots 2008 91-98.
11. H. Hoffmann, P. Pastor, D.-H. Park, and S. Schaal, "Biologically- inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance, " in Proc. IEEE Int. Conf. Robot. Autom. , 2009, pp. 1534-1539.
12. P. Pastor, H. Hoffmann, T. Asfour, and S. Schaal, "Learning and generalization of motor skills by learning from demonstration," in Proc. IEEE Int. Conf. Robot. Autom. , 2009, pp. 763-768.
13. S. Bitzer and S. Vijayakumar, "Latent spaces for dynamic movement primitives," in Proc. 9th IEEE-RAS Int. Conf. Humanoid Robots, 2009, pp. 574-581.
14. B. Nemec, M. Tamosiunaite, F.Woergoetter, and A. Ude, "Task adaptation through exploration and action sequencing," in Proc. 9th IEEE-RAS Int. Conf. Humanoid Robots, 2009, pp. 610-616.
15. J. Kober, K. Mülling, O. Krömer, C. H. Lampert, B. Schölkopf, and J. Peters, "Movement templates for learning of hitting and batting, " in Proc. IEEE Int. Conf. Robot. Autom., 2010, pp. 1-6.
16. E. Theodorou, J. Buchli, and S. Schaal, "Reinforcement learning of motor skills in high dimensions: A path integral approach," in Proc. IEEE Int. Conf. Robot. Autom. , 2010, pp. 2397-2403.
17. A. Ude, A. Gams, T. Asfour, and J. Morimoto, "Task-specific generalization of discrete and periodic dynamic movement primitives," IEEE Trans. Robot. , vol. 26, no. 5, pp. 800-815, Sep. 2010.
18. A. Ijspeert, J. Nakanishi, and S. Schaal, "Learning attractor landscapes for learning motor primitives," in Proc. 15th Adv. Neural Inf. Process. Syst., 2003, pp. 1547-1554.
19. S. Schaal, "Dynamic movement primitives-A framework for motor control in humans and humanoid robots," in Proc. Int. Symp. Adaptive Motion Animals Mach., 2003.
20. S. Schaal, J. Peters, J. Nakanishi, and A. Ijspeert, "Control, planning, learning, and imitation with dynamic movement primitives," in Proc. IEEE Int. Conf. Intell. Robots Syst.Workshop BilateralParadigmsHumans Humanoids , 2003.
21. A. I. Al-Shoshan, "Handwritten signature verification using image invariants and dynamic features," in Proc. Int. Conf. Comput. Graph., Imag. Vis., 2006, pp. 173-176. (Pubitemid 46667040)
22. S. Schaal, J. Peters, J. Nakanishi, and A. Ijspeert, "Learning movement primitives," in Proc. Int. Symp. Robot. Res. , 2004, pp. 561-572.
23. S. Haykin, Neural Networks: Comprehensive Foundation. E nglewood Cliffs, NJ: Prentice-Hall, 1999.
24. S. M. Khansari-Zadeh andA.Billard, "Imitation learning of globally stable non-linear point-to-point robot motions using nonlinear programming," in Proc. IEEE Int. Conf. Intell. Robots Syst. , 2010, pp. 2676-2683.
25. S. Calinon, F. Guenter, and A. Billard, "On learning, representing, and generalizing a task in a humanoid robot," IEEE Trans. Syst. Man Cybern. B , vol. 37, no. 2, pp. 286-298, Apr. 2007. (Pubitemid 46523219)
26. Y. Koga, K. Kondo, J. Kuffner, and J.-C. Latombe, "Planning motions with intentions," in Proc. 21st Ann. Conf. Compu t. Graph. Interact. Tech., 1994, pp. 395-408.
27. S. Schaal, "Movement planning and imitation by shaping nonlinear attractors," in Proc. 12th Yale Workshop Adapt. Learning Syst., 2003.
28. W. Wang and J. J. Slotine, "On partial contraction analysis for coupled nonlinear oscillators," Biol. Cybern. , vol. 92, no. 1, pp. 38-53, 2005. (Pubitemid 40134701)