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Dynamic Movement Primitives Based Robot Skills Learning

文献类型：期刊论文

作者Ling-Huan Kong1,2
刊名Machine Intelligence Research
出版日期2023
卷号20期号:3页码:396-407
ISSN号2731-538X
关键词Dynamic movement primitives (DMPs), trajectory tracking control, robot learning from demonstrations, neural networks (NNs), adaptive control
DOI10.1007/s11633-022-1346-z
英文摘要In this article, a robot skills learning framework is developed, which considers both motion modeling and execution. In order to enable the robot to learn skills from demonstrations, a learning method called dynamic movement primitives (DMPs) is introduced to model motion. A staged teaching strategy is integrated into DMPs frameworks to enhance the generality such that the complic ated tasks can be also performed for multi-joint manipulators. The DMP connection method is used to make an accurate and smooth transition in position and velocity space to connect complex motion sequences. In addition, motions are categorized into different goals and durations. It is worth mentioning that an adaptive neural networks (NNs) control method is proposed to achieve highly accurate trajectory tracking and to ensure the performance of action execution, which is beneficial to the improvement of reliability of the skills learning system. The experiment test on the Baxter robot verifies the effectiveness of the proposed method.
源URL[http://ir.ia.ac.cn/handle/173211/51708]  
专题自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位1.Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China
2.School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, China
3.School of Robotics and the National Engineering Laboratory of Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China
推荐引用方式
GB/T 7714		 Ling-Huan Kong. Dynamic Movement Primitives Based Robot Skills Learning[J]. Machine Intelligence Research,2023,20(3):396-407.
APA Ling-Huan Kong.(2023).Dynamic Movement Primitives Based Robot Skills Learning.Machine Intelligence Research,20(3),396-407.
MLA Ling-Huan Kong."Dynamic Movement Primitives Based Robot Skills Learning".Machine Intelligence Research 20.3(2023):396-407.

入库方式： OAI收割

来源：自动化研究所

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