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Autonomous Motion Conference Paper 2009

Compact models of motor primitive variations for predictible reaching and obstacle avoidance

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Autonomous Motion
Peter Pastor
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Autonomous Motion
Stefan Schaal
  • Director

over and over again. This regularity allows humans and robots to reuse existing solutions for known recurring tasks. We expect that reusing a set of standard solutions to solve similar tasks will facilitate the design and on-line adaptation of the control systems of robots operating in human environments. In this paper, we derive a set of standard solutions for reaching behavior from human motion data. We also derive stereotypical reaching trajectories for variations of the task, in which obstacles are present. These stereotypical trajectories are then compactly represented with Dynamic Movement Primitives. On the humanoid robot Sarcos CB, this approach leads to reproducible, predictable, and human-like reaching motions.

Author(s): Stulp, F. and Oztop, E. and Pastor, P. and Beetz, M. and Schaal, S.
Book Title: IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)
Year: 2009
Bibtex Type: Conference Paper (inproceedings)
Address: Paris, Dec.7-10
URL: http://www-clmc.usc.edu/publications/S/stulp-Humanoids2009.pdf
Cross Ref: p10329
Electronic Archiving: grant_archive
Note: clmc

BibTex 

@inproceedings{Stulp_IICHR_2009,
  title = {Compact models of motor primitive variations for predictible reaching and obstacle avoidance},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)},
  abstract = {over and over again. This regularity allows humans
  and robots to reuse existing solutions for known recurring tasks.
  We expect that reusing a set of standard solutions to solve
  similar tasks will facilitate the design and on-line adaptation of
  the control systems of robots operating in human environments.
  In this paper, we derive a set of standard solutions for
  reaching behavior from human motion data. We also derive
  stereotypical reaching trajectories for variations of the task,
  in which obstacles are present. These stereotypical trajectories
  are then compactly represented with Dynamic Movement Primitives.
  On the humanoid robot Sarcos CB, this approach leads
  to reproducible, predictable, and human-like reaching motions.},
  address = {Paris, Dec.7-10},
  year = {2009},
  note = {clmc},
  slug = {stulp_iichr_2009},
  author = {Stulp, F. and Oztop, E. and Pastor, P. and Beetz, M. and Schaal, S.},
  crossref = {p10329},
  url = {http://www-clmc.usc.edu/publications/S/stulp-Humanoids2009.pdf}
}