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Autonomous Motion Conference Paper 2000

Nonlinear dynamical systems as movement primitives

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Autonomous Motion
Stefan Schaal
  • Director
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Autonomous Motion
Dagmar Sternad

This paper explores the idea to create complex human-like movements from movement primitives based on nonlinear attractor dynamics. Each degree-of-freedom of a limb is assumed to have two independent abilities to create movement, one through a discrete dynamic system, and one through a rhythmic system. The discrete system creates point-to-point movements based on internal or external target specifications. The rhythmic system can add an additional oscillatory movement relative to the current position of the discrete system. In the present study, we develop appropriate dynamic systems that can realize the above model, motivate the particular choice of the systems from a biological and engineering point of view, and present simulation results of the performance of such movement primitives. The model was implemented for a drumming task on a humanoid robot

Author(s): Schaal, S. and Kotosaka, S. and Sternad, D.
Book Title: Humanoids2000, First IEEE-RAS International Conference on Humanoid Robots
Year: 2000
Month: September
Day: 6-7
Publisher: CD-Proceedings
Bibtex Type: Conference Paper (inproceedings)
Address: Cambridge, MA
URL: http://www-slab.usc.edu/publications/S/schaal-ICHR2000.pdf
Cross Ref: p1425
Electronic Archiving: grant_archive
Note: clmc

BibTex 

@inproceedings{Schaal_HFIICHR_2000,
  title = {Nonlinear dynamical systems as movement primitives},
  booktitle = {Humanoids2000, First IEEE-RAS International Conference on Humanoid Robots},
  abstract = {This paper explores the idea to create complex human-like movements from movement primitives based on nonlinear attractor dynamics. Each degree-of-freedom of a limb is assumed to have two independent abilities to create movement, one through a discrete dynamic system, and one through a rhythmic system. The discrete system creates point-to-point movements based on internal or external target specifications. The rhythmic system can add an additional oscillatory movement relative to the current position of the discrete system. In the present study, we develop appropriate dynamic systems that can realize the above model, motivate the particular choice of the systems from a biological and engineering point of view, and present simulation results of the performance of such movement primitives. The model was implemented for a drumming task on a humanoid robot},
  publisher = {CD-Proceedings},
  address = {Cambridge, MA},
  month = sep,
  year = {2000},
  note = {clmc},
  slug = {schaal_hfiichr_2000},
  author = {Schaal, S. and Kotosaka, S. and Sternad, D.},
  crossref = {p1425},
  url = {http://www-slab.usc.edu/publications/S/schaal-ICHR2000.pdf},
  month_numeric = {9}
}