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Incremental Motion Reshaping of Autonomous Dynamical Systems

Saveriano, Matteo and Lee, Dongheui (2019) Incremental Motion Reshaping of Autonomous Dynamical Systems. International Workshop on Human-Friendly Robotics, Italy. doi: 10.1007/978-3-030-42026-0_4.

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This paper presents an approach to incrementally learn a reshaping term that modifies the trajectories of an autonomous dynamical system without affecting its stability properties. The reshaping term is considered as an additive control input and it is incrementally learned from human demonstrations using Gaussian process regression. We propose a novel parametrization of this control input that preserves the time-independence and the stability of the reshaped system, as analytically proved in the performed Lyapunov stability analysis. The effectiveness of the proposed approach is demonstrated with simulations and experiments on a real robot.

Item URL in elib:https://elib.dlr.de/132899/
Document Type:Conference or Workshop Item (Lecture)
Title:Incremental Motion Reshaping of Autonomous Dynamical Systems
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Saveriano, MatteoUNSPECIFIEDhttps://orcid.org/0000-0002-9784-3973UNSPECIFIED
Lee, DongheuiUNSPECIFIEDhttps://orcid.org/0000-0003-1897-7664UNSPECIFIED
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Dynamical Systems
Event Title:International Workshop on Human-Friendly Robotics
Event Location:Italy
Event Type:Workshop
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lee, Prof. Dongheui
Deposited On:17 Dec 2019 10:39
Last Modified:01 Aug 2023 13:57

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