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Impact of body parameters on dynamic movement primitivesfor robot control


Kuppuswamy, Naveen Suresh; Alessandro, Cristiano (2011). Impact of body parameters on dynamic movement primitivesfor robot control. In: The European Future Technologies Conference and Exhibition (FET 2011), Budapest, Hungary, 4 May 2011 - 6 May 2011, 166-168.

Abstract

The problem of movement coordination in large DoF (Degree of Freedom) robots is complex due to redundancies. In this regard, Dynamic Movement Primitive (DMP) is a useful planning technique, inspired by biology, that can be used to store and reproduce trajectories about every DoF. This work is a preliminary study that aims to understand and quantify the influence of the robot dynamics upon the performance of DMP in a simulated 2DoF robot arm. The investigation demonstrates that the effect of the robot body dynamics needs to be taken into account during the learning process of the DMP.

Abstract

The problem of movement coordination in large DoF (Degree of Freedom) robots is complex due to redundancies. In this regard, Dynamic Movement Primitive (DMP) is a useful planning technique, inspired by biology, that can be used to store and reproduce trajectories about every DoF. This work is a preliminary study that aims to understand and quantify the influence of the robot dynamics upon the performance of DMP in a simulated 2DoF robot arm. The investigation demonstrates that the effect of the robot body dynamics needs to be taken into account during the learning process of the DMP.

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Additional indexing

Item Type:Conference or Workshop Item (Other), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Event End Date:6 May 2011
Deposited On:13 Feb 2012 09:40
Last Modified:05 Apr 2016 15:25
Publisher:Elsevier
Series Name:Procedia Computer Science
Number:7
ISSN:1877-0509 (E)
Publisher DOI:https://doi.org/10.1016/j.procs.2011.09.068
Related URLs:http://www.fet11.eu/
Other Identification Number:merlin-id:3871

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