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Type of publication: research article
Type of publication (PDB): Straipsnis Clarivate Analytics Web of Science / Article in Clarivate Analytics Web of Science (S1)
Field of Science: Informatika / Informatics (N009)
Author(s): Ning, KeJun;Kulvičius, Tomas;Tamošiūnaitė, Minija;Wörgötter, Florentin
Title: A novel trajectory generation method for robot control
Is part of: Journal of intelligent & robotic systems. Boston : Kluwer, 2012, vol. 68, iss. 2
Extent: p. 165-184
Date: 2012
Keywords: Trajectory generation;Dynamic trajectory joining;Control theory;Machine learning
Abstract: This paper presents a novel trajectory generator based on Dynamic Movement Prim-itives (DMP). The key ideas from the original DMP formalism are extracted, reformulated and extended from a control theoretical viewpoint. This method can generate smooth trajectories, satisfy position- and velocity boundary condi-tions at start- and endpoint with high precision, and follow accurately geometrical paths as de-sired. Paths can be complex and processed as a whole, and smooth transitions can be gener-ated automatically. Performance is analyzed for several cases and a comparison with a spline-based trajectory generation method is provided. Results are comparable and, thus, this novel tra-jectory generating technology appears to be a viable alternative to the existing solutions not Parts of this work have been published in preliminary form at ICRA 2011 [38]. K. Ning (B)·T. Kulvicius· M. Tamosiunaite·F. Wörgötter Bernstein Center for Computational Neuroscience, Inst. of Physics III, University of Göttingen, 37077 Göttingen, Germany e-mail: K. Ning Research & Technology, Lenovo, 100085 Beijing, China only for service robotics but possibly also in industry
Affiliation(s): Sistemų analizės katedra
Vytauto Didžiojo universitetas
Appears in Collections:Universiteto mokslo publikacijos / University Research Publications

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