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Representing movement primitives as implicit dynamical systems learned from multiple demonstrations
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)
2013 (English)In: Proceedings of the International Conference on Advanced Robotics (ICAR), IEEE , 2013, 1-8 p.Conference paper (Refereed)
Abstract [en]

This work deals with the problem of parameter estimation of dynamical systems intended to model demonstrated motion profiles for a system of interest. The regression problem is formulated as a constrained nonlinear least squares problem. We present an approach that extends the concept of dynamical movement primitives to account for multiple demonstrations of a motion. We maintain an implicit dynamical system that resembles the demonstrated trajectories in a locally optimal way. This is achieved by solving a quadratic program (that encodes our notion of resemblance) at each sampling time step. Our method guarantees predictable state evolution even in regions of the state space not covered by the demonstrations.

Place, publisher, year, edition, pages
IEEE , 2013. 1-8 p.
Keyword [en]
Robotics, Motion Control, Motion Planning, Embedded Optimization
National Category
Computer Science
Research subject
Computer Science
URN: urn:nbn:se:oru:diva-33427DOI: 10.1109/ICAR.2013.6766505ScopusID: 2-s2.0-84899426598OAI: diva2:691954
International Conference on Advanced Robotics (ICAR),Nov 25 - Nov 29, Montevideo, Uruguay
EU, FP7, Seventh Framework Programme, J44528EU, FP7, Seventh Framework Programme, J44520
Available from: 2014-01-29 Created: 2014-01-29 Last updated: 2015-07-29Bibliographically approved

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Krug, Robert
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School of Science and Technology, Örebro University, Sweden
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