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 
Olschewski, Robin 
Werner, Herbert 
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.
ISSN: 1474-6670
Institute: Regelungstechnik E-14 
Type: (wissenschaftlicher) Artikel
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