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Publication Details

Reference TypeConference Proceedings
Author(s)Meier, F.;Theodorou, E.;Stulp, F.;Schaal, S.
TitleMovement segmentation using a primitive library
Journal/Conference/Book TitleIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Keywordsmovement primitives, movement recognition, Kalman filter, EM ALGORITHM, movement library
AbstractSegmenting complex movements into a sequence of primitives remains a difficult problem with many applications in the robotics and vision communities. In this work, we show how the movement segmentation problem can be reduced to a sequential movement recognition problem. To this end, we reformulate the orig-inal Dynamic Movement Primitive (DMP) formulation as a linear dynamical sys-tem with control inputs. Based on this new formulation, we develop an Expecta-tion-Maximization algorithm to estimate the duration and goal position of a par-tially observed trajectory. With the help of this algorithm and the assumption that a library of movement primitives is present, we present a movement seg-mentation framework. We illustrate the usefulness of the new DMP formulation on the two applications of online movement recognition and movement segmen-tation.
Place PublishedSept. 25-30, San Francisco, CA
Short TitleMovement segmentation using a primitive library

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