Dynamic Movement Primitives Based Robot Skills Learning

doi:10.1007/s11633-022-1346-z

CORC > 自动化研究所 > 中国科学院自动化研究所 > 学术期刊 > International Journal of Automation and Computing

	Dynamic Movement Primitives Based Robot Skills Learning
	Ling-Huan Kong 2,3
刊名	Machine Intelligence Research
	2023
卷号	20 期号:3 页码:396-407
关键词	Dynamic movement primitives (DMPs), trajectory tracking control, robot learning from demonstrations, neural networks (NNs), adaptive control
ISSN号	2731-538X
DOI	10.1007/s11633-022-1346-z
英文摘要	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.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/51708]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	1.School of Robotics and the National Engineering Laboratory of Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China 2.Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China 3.School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, China
推荐引用方式 GB/T 7714	Ling-Huan Kong. Dynamic Movement Primitives Based Robot Skills Learning[J]. Machine Intelligence Research,2023,20(3):396-407.
APA	Ling-Huan Kong.(2023).Dynamic Movement Primitives Based Robot Skills Learning.Machine Intelligence Research,20(3),396-407.
MLA	Ling-Huan Kong."Dynamic Movement Primitives Based Robot Skills Learning".Machine Intelligence Research 20.3(2023):396-407.