Impact of Body Parameters on Dynamic Movement Primitives for Robot Control

被引：2

作者：

Kuppuswamy, Naveen ^{[1
]}

Alessandro, Cristiano ^{[1
]}

机构：

[1] Univ Zurich, Inst Informat, Zurich, Switzerland

来源：

PROCEEDINGS OF THE 2ND EUROPEAN FUTURE TECHNOLOGIES CONFERENCE AND EXHIBITION 2011 (FET 11) | 2011年 / 7卷

关键词：

Dynamic movement primitives; robot dynamics;

D O I：

10.1016/j.procs.2011.09.068

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

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. (C) Selection and peer-review under responsibility of FET11 conference organizers and published by Elsevier B. V.

引用

页码：166 / 168

页数：3

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