Name
Title | ||
|---|---|---|
Sinc-Based Dynamic Movement Primitives For Encoding Point-To-Point Kinematic Behaviors |
Abstract | ||
|---|---|---|
This work proposes the utilization of sinc functions as kernels of Dynamic Movement Primitives (DMP) models for encoding point-to-point kinematic behaviors. The proposed method presents a number of advantages with respect to the state of the art, as it (i) involves a simple learning technique, (ii) provides a method to determine the minimum required number of basis functions, based on the frequency content of the demonstrated motion and (iii) provides the ability to pre-define the reproduction accuracy of the learned behavior. The ability of the proposed model to accurately reproduce the behavior is demonstrated through simulations and experiments. Comparisons with the Gaussian-based DMP model show the proposed method's superiority in terms of computational complexity of learning and accuracy for a specific number of kernels. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/IROS.2018.8594479 | 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
Field | DocType | ISSN |
Computer vision,Kinematics,Sinc function,Computer science,Algorithm,Gaussian,Artificial intelligence,Basis function,Point-to-point,Frequency modulation,Computational complexity theory,Encoding (memory) | Conference | 2153-0858 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dimitrios G. Papageorgiou | 1 | 31 | 6.93 |
| Antonis Sidiropoulos | 2 | 0 | 1.01 |
| Zoe Doulgeri | 3 | 332 | 47.11 |