Paper Info
Title
Impact of Body Parameters on Dynamic Movement Primitives for Robot Control.
Abstract
The problem of movement coordination in large DoF (Degree of Freedom) robots is complex due to redundancies. In this regard, Dynamic Movement Primitive (DMP) is a useful planning technique, inspired by biology, that can be used to store and reproduce trajectories about every DoF. This work is a preliminary study that aims to understand and quantify the influence of the robot dynamics upon the performance of DMP in a simulated 2DoF robot arm. The investigation demonstrates that the effect of the robot body dynamics needs to be taken into account during the learning process of the DMP.
Year
DOI
Venue
2011
10.1016/j.procs.2011.09.068
Procedia Computer Science
Keywords
Field
DocType
Dynamic movement primitives,robot dynamics
Robot control,Computer vision,Robotic arm,Degrees of freedom (statistics),Computer science,Robot kinematics,Artificial intelligence,Robot
Journal
Volume
ISSN
Citations 
7
1877-0509
0
PageRank 
References 
Authors
0.34
3
2
Name
Order
Citations
PageRank
Naveen Kuppuswamy1124.20
Cristiano Alessandro2554.25