Action sequencing using dynamic movement primitives

Robotica

Volumn 30, Issue 5, 2012, Pages 837-846

  Nemec, Bojan ^a   Ude, Aleš ^a  

^a JO EF STEFAN INSTITUTE   (Slovenia)

Author keywords

Dynamic movement primitives; Imitation learning; Trajectory generation

Indexed keywords

ARTICULATED ROBOTS; COMPLEX TASK; DYNAMIC MOTIONS; DYNAMIC MOVEMENT PRIMITIVES; GAUSSIAN KERNEL FUNCTIONS; IMITATION LEARNING; MITSUBISHI; SECOND ORDER DERIVATIVES; SECOND-ORDER DYNAMICS; THIRD-ORDER; TRAJECTORY GENERATION;

MACHINERY;

NONLINEAR DYNAMICAL SYSTEMS;

EID: 84864695232     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574711001056     Document Type: Article

References (23)

1. D. C. Bentivegna, C. G. Atkeson, A. Ude and G. Cheng, "Learning to act from observation and practice," Int. J. Humanoid Robot. 1(4), 585-611 (2004).
2. R. Dillmann, "Teaching and learning of robot tasks via observation of human performance," Robot. Auton. Syst. 47(2), 109-116 (2008).
3. D. M. Wolpert and M. Kawato, "Multiple paired forward and inversemodels formotor control," Neural Netw. 11, 1317-1329 (1998). (Pubitemid 28527128)
4. M. J. Mataríc, Sensory Motor Primitives as a Basis for Imitation: Linking Perception to Action and Biology to Robotics (MIT Press, 2002).
5. A. J. Ijspeert, J. Nakanishi and S. Schaal, "Learning Rhythmic Movements by Demonstration Using Nonlinear Oscillators," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland (2002) pp. 958-963. (Pubitemid 35437931)
6. A. J. Ijspeert, J. Nakanishi and S. Schaal, "Movement Imitation with Nonlinear Dynamical Systems in Humanoid Robots," Proceedings of the IEEE International Conference on Robotics and Automation, Washington, DC (2002) pp. 1398-1403. (Pubitemid 34916443)
7. A. J. Ijspeert, J. Nakanishi and S. Schaal, "Learning Attractor Landscapes for Learning Motor Primitives," In: Advances in Neural Information Processing Systems 15 (S. Becker, S. Thrun and K. Obermayer, eds.) (MIT Press, Cambridge, MA, 2003) pp. 1547-1554.
8. S. Schaal, J. Peters, J. Nakanishi and A. Ijspeert, "Learning Movement Primitives," In: Robotics Research: The Eleventh International Symposium (P. Dario and R. Chatila, eds.) (Springer, Berlin, Heidelberg, 2005) pp. 561-572.
9. P. Pastor, H. Hoffmann, T. Asfour and S. Schaal, "Learning and Generalization of Motor Skills by Learning from Demonstration," Proceedings of the IEEE International Conference on Robotics and Automation, Kobe, Japan (2009) pp. 763-768.
10. J. Peters and S. Schaal, "Reinforcement learning of motor skills with policy gradients," Neural Netw. 21, 682-697 (2008).
11. J. Kober and J. Peters, "Learning Motor Primitives for Robotics," ICRA'09: Proceedings of the 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan (2009) pp. 2112-2118.
12. D.-H. Park, H. Hoffmann, P. Pastor and S. Schaal, "Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields," Proceedings of the 8th IEEERAS International Conference on Humanoid Robots (2008) pp. 91-98.
13. H. Hoffmann, P. Pastor, D. Park and S. Schaal, "Biologicallyinspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance," Proceedings of the IEEE International Conference on Robotics and Automation, Kobe, Japan (2009) pp. 2587-2592.
14. S. Schaal, P. Mohajerian and A. Ijspeert, "Dynamics systems vs. optimal control-a unifying view," Prog. Brain Res. 165(6), 425-445 (2007). (Pubitemid 47513886)
15. B. Nemec, M. Tamosiunaite, F. Worgotter and A. Ude, "TaskAdaptation through Exploration and Action Sequencing, Proceedings of the 9th IEEE-RAS International Conference on Humanoid Robots, Paris, France (2009) pp. 610-616.
16. B. Nemec, M. Zorko and L. ? Zlajpah, "Learning of a Ballin-a-Cup Playing Robot," Proceedings of the 19th IEEE International Workshop on Robotics in Alpe-Adria-Danube Region, Budapest, Hungary (2010) pp. 297-301.
17. A. Gams, A. Ijspeert, S. Schaal and J. Lenarcic, "On-line learning andmodulation of periodicmovementswith nonlinear dynamical systems," Auton. Robots 27(1), 3-23 (2009).
18. A. Ude, A. Gams, T. Asfour and J. Morimoto, "Taskspecific generalization of discrete and periodic dynamic movement primitives," IEEE Trans. Robot. 26(5), 800-815 (2010).
19. C. G. Atkeson, A.W. Moore and S. Schaal, "Locally weighted learning," AI Review 11, 11-73 (1997). (Pubitemid 127508233)
20. BTS Bioengineering. High frequency digital system for biomechanical motion analysis. http://www.btsbioengineering. com/Media/Brochure/assets/bts smartd a40308uk.pdf.
21. D. Kuli?c, W. Takano and Y. Nakamura, "Online segmentation and clustering from continuous observation of whole body motions," IEEE Trans. Robot. 25(5), 1158-1166 (2009).
22. V. Krueger, L. D. Herzog, S. Baby, A. Ude and D Kragic, "Learning actions from observation," IEEE Robot. Autom. Mag. 17(2), 30-43 (2010).
23. A. Fod, M. J. Matari?c and O. C. Jenkins, "Automated derivation of primitives for movement classification," Auton. Robots 12(1), 39-54 (2002). (Pubitemid 34156621)