Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives

Martin Karlsson1, Rolf Johansson1, Anders Robertsson2

  • 1Lund University
  • 2LTH, Lund University

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Regular Papers

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09:55 - 11:10 | Tue 30 May | Room 4611/4612 | TUA6

Learning and Adaptive Systems 1

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Abstract

The concept of dynamical movement primitives (DMPs) has become popular for modeling of motion, commonly applied on robots. This paper presents a framework that allows a robot operator to adjust DMPs in an intuitive way. Given a generated trajectory with a faulty last part, the operator can use lead-through programming to demonstrate a corrective trajectory. A modified DMP is formed, based on the first part of the faulty trajectory and the last part of the corrective one. A real-time application is presented and verified experimentally.

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