|Reference Type||Conference Paper|
|Author(s)||Stulp, F.;Oztop, E.;Pastor, P.;Beetz, M.;Schaal, S.|
|Title||Compact models of motor primitive variations for predictible reaching and obstacle avoidance|
|Journal/Conference/Book Title||IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)|
|Keywords||motor primitives, obstacle avoidance|
|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.|
|Place Published||Paris, Dec.7-10|
|Short Title||Compact models of motor primitive variations for predictible reaching and obstacle avoidance|