CASIA OpenIR  > 学术期刊  > Machine Intelligence Research
Dynamic Movement Primitives Based Robot Skills Learning
Ling-Huan Kong1,2; Wei He1,2; Wen-Shi Chen1,2; Hui Zhang3; Yao-Nan Wang3
Source PublicationMachine Intelligence Research
ISSN2731-538X
2023
Volume20Issue:3Pages:396-407
Abstract

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.

KeywordDynamic movement primitives (DMPs), trajectory tracking control, robot learning from demonstrations, neural networks (NNs), adaptive control
DOI10.1007/s11633-022-1346-z
Language英语
Sub direction classification其他
planning direction of the national heavy laboratory其他
Paper associated data
Chinese guidehttps://mp.weixin.qq.com/s/QyY8DeUwCKbm05Cazo5M-Q
Video parsinghttps://www.bilibili.com/video/BV1di42117ua/
Citation statistics
Cited Times:29[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/55986
Collection学术期刊_Machine Intelligence Research
Affiliation1.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
Recommended Citation
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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