A segmentation scheme for CLF dynamic movement control applied to robotic handwriting

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.

Subjects

Autonomous robotic systems

Lyapunov methods

Robotics technology

Robots manipulators

DDC Class

600: Technik

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publishedVersion

Lizenz

https://creativecommons.org/licenses/by-nc-nd/4.0/

Name

1-s2.0-S2405896317324400-main.pdf

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797.03 KB

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Adobe PDF

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A segmentation scheme for CLF dynamic movement control applied to robotic handwriting