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A segmentation scheme for CLF dynamic movement control applied to robotic handwriting
Citation Link: https://doi.org/10.15480/882.3416
Publikationstyp
Conference Paper
Publikationsdatum
2017-10-18
Sprache
English
Institut
TORE-URI
Enthalten in
Volume
50
Issue
1
Start Page
11459
End Page
11464
Citation
IFAC-PapersOnLine 50 (1) 11459–11464 (2017)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
Elsevier
Control Lyapunov Function - Dynamic Movement is a recently proposed imitation learning approach for controlling point-to-point movements. In this work some practical issues arising with this approach have been investigated by studying a particular application: robotic handwriting of German letters. One difficulty in this context is the handling of crossings. Here a novel segmentation scheme is proposed to eliminate crossings. Using a segmentation framework for splitting up the movement into a number of partial movements has additional advantages: It reduces the computational time for calculating the dynamic system that is required in this approach, as well as the time for calculating a Lyapunov function because of the simpler parametrization. This proposed segmentation scheme has been validated experimentally on a CRS A465 robotic manipulator.
Schlagworte
Autonomous robotic systems
Lyapunov methods
Robotics technology
Robots manipulators
DDC Class
600: Technik
Publication version
publishedVersion
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