Movement Generation and Control
Conference Paper
2006
Movement generation using dynamical systems : a humanoid robot performing a drumming task
The online generation of trajectories in humanoid robots remains a difficult problem. In this contribution, we present a system that allows the superposition, and the switch between, discrete and rhythmic movements. Our approach uses nonlinear dynamical systems for generating trajectories online and in real time. Our goal is to make use of attractor properties of dynamical systems in order to provide robustness against small perturbations and to enable online modulation of the trajectories. The system is demonstrated on a humanoid robot performing a drumming task.
| Author(s): | Degallier, S. and Santos, C. P. and Righetti, L. and Ijspeert, A. |
| Book Title: | 2006 6th IEEE-RAS International Conference on Humanoid Robots |
| Pages: | 512--517 |
| Year: | 2006 |
| Publisher: | IEEE |
| Bibtex Type: | Conference Paper (inproceedings) |
| Address: | Genova, Italy |
| DOI: | 10.1109/ICHR.2006.321321 |
| URL: | https://infoscience.epfl.ch/record/128615/files/humanoids06.pdf |
| Electronic Archiving: | grant_archive |
BibTex
@inproceedings{degallier_movement_2006,
title = {Movement generation using dynamical systems : a humanoid robot performing a drumming task},
booktitle = {2006 6th {IEEE}-{RAS} {International} {Conference} on {Humanoid} {Robots}},
abstract = {The online generation of trajectories in humanoid robots remains a difficult problem. In this contribution, we present a system that allows the superposition, and the switch between, discrete and rhythmic movements. Our approach uses nonlinear dynamical systems for generating trajectories online and in real time. Our goal is to make use of attractor properties of dynamical systems in order to provide robustness against small perturbations and to enable online modulation of the trajectories. The system is demonstrated on a humanoid robot performing a drumming task.},
pages = {512--517},
publisher = {IEEE},
address = {Genova, Italy},
year = {2006},
slug = {degallier_movement_2006},
author = {Degallier, S. and Santos, C. P. and Righetti, L. and Ijspeert, A.},
url = {https://infoscience.epfl.ch/record/128615/files/humanoids06.pdf}
}