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Learning Accurate and Stable Point-to-Point Motions: A Dynamic System Approach | |
Zhang, Yu1,2; Cheng, Long1,2![]() ![]() ![]() | |
发表期刊 | IEEE ROBOTICS AND AUTOMATION LETTERS
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ISSN | 2377-3766 |
2022-04-01 | |
卷号 | 7期号:2页码:1510-1517 |
摘要 | This letter proposes a dynamic system approach to learn point-to-point motions while keeping the stability of the dynamic system. The proposed approach is grounded on a Learning from Demonstration (LfD) method based on a neural network, which gets a better reproduction performance while guaranteeing the generalization ability. The proposed approach has been experimentally validated on the LASA dataset and by the "pick-and-place" task of Franke Emika robot, and experimental results demonstrate that: (1) compared with the state-of-the-art results, the trajectory generated by the proposed approach achieves higher accuracy (approximately 24.79%) in terms of the similarity with respect to the demonstration; (2) the proposed approach can handle high dimensional data and learn from one or more demonstrations; (3) the proposed approach can guarantee the performance regardless of the variation of starting points even in the case of high dimensional complex motions. |
关键词 | Point-to-point tasks neural network dynamic system generalization performance high dimensional data |
DOI | 10.1109/LRA.2022.3140677 |
关键词[WOS] | MOVEMENT PRIMITIVES ; IMITATION ; TASK |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209] ; National Natural Science Foundation of China[61873013] ; Beijing Natural Science Foundation[JQ19020] |
项目资助者 | National Natural Science Foundation of China ; Beijing Natural Science Foundation |
WOS研究方向 | Robotics |
WOS类目 | Robotics |
WOS记录号 | WOS:000742721400003 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 多模态智能 |
国重实验室规划方向分类 | 人机混合智能 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/47052 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Cheng, Long |
作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Zhang, Yu,Cheng, Long,Li, Houcheng,et al. Learning Accurate and Stable Point-to-Point Motions: A Dynamic System Approach[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(2):1510-1517. |
APA | Zhang, Yu,Cheng, Long,Li, Houcheng,&Cao, Ran.(2022).Learning Accurate and Stable Point-to-Point Motions: A Dynamic System Approach.IEEE ROBOTICS AND AUTOMATION LETTERS,7(2),1510-1517. |
MLA | Zhang, Yu,et al."Learning Accurate and Stable Point-to-Point Motions: A Dynamic System Approach".IEEE ROBOTICS AND AUTOMATION LETTERS 7.2(2022):1510-1517. |
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