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Merging Position and Orientation Motion Primitives

Saveriano, Matteo and Franzel, Felix and Lee, Dongheui (2019) Merging Position and Orientation Motion Primitives. In: 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE. IEEE International Conference on Robotics and Automation (ICRA), 2019-05-20 - 2019-05-24, Canada. doi: 10.1109/ICRA.2019.8793786. ISBN 978-153866026-3. ISSN 10504729.

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Official URL: https://ieeexplore.ieee.org/document/8793786

Abstract

In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time series of positions and orientations ending at a desired target. Hence, we first discuss the generation of converging pose trajectories via dynamical systems, providing a rigorous stability analysis. Then, we present approaches to merge motion primitives which represent both the position and the orientation part of the motion. Developed approaches preserve the shape of each learned movement and allow for continuous transitions among succeeding motion primitives. Presented methodologies are theoretically described and experimentally evaluated, showing that it is possible to generate a smooth pose trajectory out of multiple motion primitives.

Item URL in elib:https://elib.dlr.de/132908/
Document Type:Conference or Workshop Item (Lecture)
Title:Merging Position and Orientation Motion Primitives
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Saveriano, MatteoUNSPECIFIEDhttps://orcid.org/0000-0002-9784-3973UNSPECIFIED
Franzel, FelixTUMUNSPECIFIEDUNSPECIFIED
Lee, DongheuiUNSPECIFIEDhttps://orcid.org/0000-0003-1897-7664UNSPECIFIED
Date:2019
Journal or Publication Title:2019 International Conference on Robotics and Automation, ICRA 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/ICRA.2019.8793786
Publisher:IEEE
ISSN:10504729
ISBN:978-153866026-3
Status:Published
Keywords:Motion Primitives
Event Title:IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Canada
Event Type:international Conference
Event Start Date:20 May 2019
Event End Date:24 May 2019
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 13:46
Last Modified:07 Jun 2024 08:41

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