The problem of movement coordination in large DoF (Degree of Freedom) robots is complex due to redundancies. In this regard, Dynamic Movement Primitive (DMP) is a useful planning technique, inspired by biology, that can be used to store and reproduce trajectories about every DoF. This work is a preliminary study that aims to understand and quantify the influence of the robot dynamics upon the performance of DMP in a simulated 2DoF robot arm. The investigation demonstrates that the effect of the robot body dynamics needs to be taken into account during the learning process of the DMP.
Kuppuswamy, N., Alessandro, C. (2011). Impact of Body Parameters on Dynamic Movement Primitives for Robot Control. In PROCEEDINGS OF THE 2ND EUROPEAN FUTURE TECHNOLOGIES CONFERENCE AND EXHIBITION 2011 (FET 11) (pp.166-168) [10.1016/j.procs.2011.09.068].
Impact of Body Parameters on Dynamic Movement Primitives for Robot Control
Alessandro C
2011
Abstract
The problem of movement coordination in large DoF (Degree of Freedom) robots is complex due to redundancies. In this regard, Dynamic Movement Primitive (DMP) is a useful planning technique, inspired by biology, that can be used to store and reproduce trajectories about every DoF. This work is a preliminary study that aims to understand and quantify the influence of the robot dynamics upon the performance of DMP in a simulated 2DoF robot arm. The investigation demonstrates that the effect of the robot body dynamics needs to be taken into account during the learning process of the DMP.
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