DC Field | Value | Language |
---|---|---|
dc.contributor.author | Park, Dae-Hyung | ko |
dc.contributor.author | Hoffmann, Heiko | ko |
dc.contributor.author | Pastor, Peter | ko |
dc.contributor.author | Schaal, Stefan | ko |
dc.date.accessioned | 2020-11-30T00:10:23Z | - |
dc.date.available | 2020-11-30T00:10:23Z | - |
dc.date.created | 2020-11-29 | - |
dc.date.issued | 2008-12 | - |
dc.identifier.citation | 2008 8th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2008) | - |
dc.identifier.issn | 2164-0572 | - |
dc.identifier.uri | http://hdl.handle.net/10203/277684 | - |
dc.description.abstract | Robots in a human environment need to be compliant. This compliance requires that a preplanned movement can be adapted to an obstacle that may be moving or appearing unexpectedly. Here, we present a general framework for movement generation and mid-flight adaptation to obstacles. For robust motion generation, Ijspeert et al developed the framework of dynamic movement primitives [1], [2], [3], [4], which represent a demonstrated movement with a set of differential equations. These equations allow adding a perturbing force without sacrificing stability of the desired movement. We extend this framework such that arbitrary movements in end-effector space can be represented - which was not possible before. Furthermore, we include obstacle avoidance by adding to the equations of motion a repellent force - a gradient of a potential field centered around the obstacle. In addition, this article compares different potential fields and shows how to avoid obstacle-link collisions within this framework. We demonstrate the abilities of our approach in simulations and with an anthropomorphic robot arm. | - |
dc.language | English | - |
dc.publisher | IEEE | - |
dc.title | Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields | - |
dc.type | Conference | - |
dc.identifier.wosid | 000267052300015 | - |
dc.identifier.scopusid | 2-s2.0-63549125238 | - |
dc.type.rims | CONF | - |
dc.citation.publicationname | 2008 8th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2008) | - |
dc.identifier.conferencecountry | KO | - |
dc.identifier.conferencelocation | Daejeon | - |
dc.identifier.doi | 10.1109/ichr.2008.4755937 | - |
dc.contributor.localauthor | Park, Dae-Hyung | - |
dc.contributor.nonIdAuthor | Hoffmann, Heiko | - |
dc.contributor.nonIdAuthor | Pastor, Peter | - |
dc.contributor.nonIdAuthor | Schaal, Stefan | - |
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