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Compact models of motor primitive variations for predictible reaching and obstacle avoidance

2009

Conference Paper

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over and over again. This regularity allows humans and robots to reuse existing solutions for known recurring tasks. We expect that reusing a set of standard solutions to solve similar tasks will facilitate the design and on-line adaptation of the control systems of robots operating in human environments. In this paper, we derive a set of standard solutions for reaching behavior from human motion data. We also derive stereotypical reaching trajectories for variations of the task, in which obstacles are present. These stereotypical trajectories are then compactly represented with Dynamic Movement Primitives. On the humanoid robot Sarcos CB, this approach leads to reproducible, predictable, and human-like reaching motions.

Author(s): Stulp, F. and Oztop, E. and Pastor, P. and Beetz, M. and Schaal, S.
Book Title: IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)
Year: 2009

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

Address: Paris, Dec.7-10
Cross Ref: p10329
Note: clmc
URL: http://www-clmc.usc.edu/publications/S/stulp-Humanoids2009.pdf

BibTex

@inproceedings{Stulp_IICHR_2009,
  title = {Compact models of motor primitive variations for predictible reaching and obstacle avoidance},
  author = {Stulp, F. and Oztop, E. and Pastor, P. and Beetz, M. and Schaal, S.},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)},
  address = {Paris, Dec.7-10},
  year = {2009},
  note = {clmc},
  crossref = {p10329},
  url = {http://www-clmc.usc.edu/publications/S/stulp-Humanoids2009.pdf}
}