|Publisher DOI:||10.1016/j.ifacol.2017.08.1818||Title:||A segmentation scheme for CLF dynamic movement control applied to robotic handwriting||Language:||English||Authors:||Göttsch, Patrick
|Keywords:||Autonomous robotic systems;Lyapunov methods;Robotics technology;Robots manipulators||Issue Date:||18-Oct-2017||Publisher:||Elsevier||Source:||IFAC-PapersOnLine 1 (50): 11459-11464 (2017)||Journal or Series Name:||IFAC papers online||Abstract (english):||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.||URI:||http://hdl.handle.net/11420/3277||ISSN:||1474-6670||Institute:||Regelungstechnik E-14||Type:||(wissenschaftlicher) Artikel|
|Appears in Collections:||Publications without fulltext|
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