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Type of publication: research article
Type of publication (PDB): Straipsnis konferencijos medžiagoje Clarivate Analytics Web of Science ar/ir Scopus / Article in Clarivate Analytics Web of Science or Scopus DB conference proceedings (P1a)
Field of Science: Informatika / Informatics (N009)
Author(s): Kulvičius, Tomas;Ning, KeJun;Tamošiūnaitė, Minija;Wörgötter, Florentin
Title: Modified dynamic movement primitives for joining movement sequences
Is part of: ICRA 2011 : IEEE international conference on robotics and automation, Shanghai international conference center May 9-13, 2011, Shanghai, China. Piscataway : IEEE Press
Extent: p. 2275-2280
Date: 2011
Keywords: Dynamic movement primitives, DMP;Joining movement sequences;Velocity space
ISBN: 9781612843858
Abstract: The generation of complex movement patterns, in particular in cases where one needs to smoothly and accurately join trajectories, is still a difficult problem in robotics. This paper presents a novel approach for joining of several dynamic movement primitives (DMPs) based on a modification of the original formulation for DMPs. The new method produces smooth and natural transitions in position as well as velocity space. The properties of the method are demonstrated by applying it to simulated handwriting generation implemented on a robot, where an adaptive algorithm is used to learn trajectories from human demonstration. These results demonstrate that the new method is a feasible alternative for trajectory learning and generation and its accuracy and modular character has potential for various robotics applications
Affiliation(s): Informatikos fakultetas
Taikomosios informatikos katedra
Vytauto Didžiojo universitetas
Appears in Collections:Universiteto mokslo publikacijos / University Research Publications

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