WebJan 7, 2024 · In order to assist patients with lower limb disabilities in normal walking, a new trajectory learning scheme of limb exoskeleton robot based on dynamic movement primitives (DMP) combined with reinforcement learning (RL) was proposed. The developed exoskeleton robot has six degrees of freedom (DOFs). WebJul 1, 2024 · Obstacle avoidance for DMPs is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to represent volumes. In this work, we extend our previous work to include the velocity of the trajectory in the definition of the potential. Our formulations guarantee …
Control, Planning, Learning, and Imitation with Dynamic …
WebJan 7, 2024 · In this article, a robot skills learning framework is developed, which considers both motion modeling and execution. In order to enable the robot to learn skills from demonstrations, a learning method called dynamic movement primitives (DMPs) is introduced to model motion. WebMar 30, 2024 · We validate our framework for obstacle avoidance in a simulated multi-robot scenario and with different real robots: a pick-and-place task for an industrial manipulator and a surgical robot to show scalability; and navigation with a mobile robot in a dynamic environment. Download to read the full article text Availability of Data and Materials simulated morganite earrings
Dynamic Movement Primitives for cooperative manipulation and ...
WebNov 8, 2024 · DMPs are based on dynamical systems to guarantee properties such as convergence to a goal state, robustness to perturbation, and the ability to generalize to … WebOct 1, 2024 · Dynamic Movement Primitives (DMPs) is a framework for learning a point-to-point trajectory from a demonstration. Despite being widely used, DMPs still present some shortcomings that may limit their usage in real robotic applications. Firstly, at the state of the art, mainly Gaussian basis functions have been used to perform function approximation. WebDynamic Movement Primitives (DMPs) are a generic approach for trajectory modeling in an attractor land-scape based on differential dynamical systems. DMPs guarantee … simulated microgravity