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arXiv · 1905.11130

Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives

Martin Karlsson·Anders Robertsson·Rolf Johansson
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Abstract

The concept of dynamical movement primitives (DMPs) has become popular for modeling of motion, commonly applied to robots. This paper presents a framework that allows a robot operator to adjust DMPs in an intuitive way. Given a generated trajectory with a faulty last part, the operator can use lead-through programming to demonstrate a corrective trajectory. A modified DMP is formed, based on the first part of the faulty trajectory and the last part of the corrective one. A real-time application is presented and verified experimentally.

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Martin Karlsson, Anders Robertsson, Rolf Johansson. 2019-05-27. Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives. https://arxiv.org/abs/1905.11130

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