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Reference TypeConference Paper
Author(s)Stulp, F.;Oztop, E.;Pastor, P.;Beetz, M.;Schaal, S.
Year2009
TitleCompact models of motor primitive variations for predictible reaching and obstacle avoidance
Journal/Conference/Book TitleIEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)
Keywordsmotor primitives, obstacle avoidance
Abstractover 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 PublishedParis, Dec.7-10
Short TitleCompact models of motor primitive variations for predictible reaching and obstacle avoidance
URL(s) http://www-clmc.usc.edu/publications/S/stulp-Humanoids2009.pdf

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