Knowledge Commons of Institute of Automation,CAS
Dynamic Movement Primitives Based Robot Skills Learning | |
Ling-Huan Kong1,2; Wei He1,2; Wen-Shi Chen1,2; Hui Zhang3![]() | |
发表期刊 | Machine Intelligence Research
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ISSN | 2731-538X |
2023 | |
卷号 | 20期号:3页码:396-407 |
摘要 | In this article, a robot skills learning framework is developed, which considers both motion modeling and execution. In order to enable the robot to learn skills from demonstrations, a learning method called dynamic movement primitives (DMPs) is introduced to model motion. A staged teaching strategy is integrated into DMPs frameworks to enhance the generality such that the complic ated tasks can be also performed for multi-joint manipulators. The DMP connection method is used to make an accurate and smooth transition in position and velocity space to connect complex motion sequences. In addition, motions are categorized into different goals and durations. It is worth mentioning that an adaptive neural networks (NNs) control method is proposed to achieve highly accurate trajectory tracking and to ensure the performance of action execution, which is beneficial to the improvement of reliability of the skills learning system. The experiment test on the Baxter robot verifies the effectiveness of the proposed method. |
关键词 | Dynamic movement primitives (DMPs), trajectory tracking control, robot learning from demonstrations, neural networks (NNs), adaptive control |
DOI | 10.1007/s11633-022-1346-z |
语种 | 英语 |
七大方向——子方向分类 | 其他 |
国重实验室规划方向分类 | 其他 |
是否有论文关联数据集需要存交 | 否 |
中文导读 | https://mp.weixin.qq.com/s/QyY8DeUwCKbm05Cazo5M-Q |
视频解析 | https://www.bilibili.com/video/BV1di42117ua/ |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/55986 |
专题 | 学术期刊_Machine Intelligence Research |
作者单位 | 1.School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, China 2.Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China 3.School of Robotics and the National Engineering Laboratory of Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China |
推荐引用方式 GB/T 7714 | Ling-Huan Kong,Wei He,Wen-Shi Chen,et al. Dynamic Movement Primitives Based Robot Skills Learning[J]. Machine Intelligence Research,2023,20(3):396-407. |
APA | Ling-Huan Kong,Wei He,Wen-Shi Chen,Hui Zhang,&Yao-Nan Wang.(2023).Dynamic Movement Primitives Based Robot Skills Learning.Machine Intelligence Research,20(3),396-407. |
MLA | Ling-Huan Kong,et al."Dynamic Movement Primitives Based Robot Skills Learning".Machine Intelligence Research 20.3(2023):396-407. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
MIR-2022-03-088.pdf(3181KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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