Name
Abstract | ||
|---|---|---|
This paper addresses the problem of achieving high robot compliance while maintaining low tracking error without the use of dynamical models. The proposed approach uses programing by demonstration to learn new task related compliant movement. The presented Compliant Movement Primitives are a combination of 1) position trajectories, gained through human demonstration and encoded as Dynamical Movement Primitives and 2) corresponding torque trajectories encoded as a linear combination of radial basis functions. A set of example Compliant Movement Primitives is used with statistical generalization in order to execute previously unexplored tasks inside the training space. The proposed control approach and generalization was evaluated with a discrete pick-and-place task on a Kuka LWR robot. The evaluation showed a major decrease in tracking error compared to a classic feedback approach and no significant rise in tracking error while using generalized Compliant Movement Primitives. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ICAR.2015.7251512 | 2015 International Conference on Advanced Robotics (ICAR) |
Keywords | DocType | Citations |
discrete compliant movement primitives generalization,robot compliance,low tracking error,programming by demonstration,position trajectories,human demonstration,dynamical movement primitives,torque trajectories,radial basis functions,statistical generalization,discrete pick-and-place task,Kuka LWR robot | Conference | 0 |
PageRank | References | Authors |
0.34 | 17 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Miha Denisa | 1 | 4 | 2.26 |
| Andrej Gams | 2 | 385 | 29.54 |
| Ales Ude | 3 | 898 | 85.11 |
| Tadej Petric | 4 | 178 | 20.60 |