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This paper presents an effective method for planning and optimizing robot motions in joint space using via-points. The via-point formulation allows for a sparse movement representation which is inherently smooth according to a minimum jerk criterion. In this research we focus on two aspects. First, we present an initialization method to find a feasible number of via-points and their distribution in...
This paper introduces a motion generation framework that integrates a hierarchical movement primitive (MP) layer with optimal control in form of receding horizon optimization. In order to benefit from fast reactions on the MP-layer, the optimal control layer can be overridden in risky situations to generate quick, though non-optimal solutions. By this, the system fulfills four desirable properties...
This paper addresses the question of how to create adaptive and smooth sequences of actions and how to decide among skill options in a continuous manner without the necessity of recurrent planning. Motion generation is based on serial and parallel blending of movement primitives (MP). MPs are modeled as dynamical systems on task coordinates with attractor behavior and augmented with additional signals...
In this paper we present a new robot control and learning system that allows a humanoid robot to extend its movement repertoire by learning from a human tutor. The focus is learning and imitating motor skills to move and position objects. We concentrate on two major aspects. First, the presented teaching and imitation scenario is fully interactive. A human tutor can teach the robot which is in turn...
Humanoid robots are intended to act and interact in dynamically changing environments in the presence of humans. Current robotic systems are usually able to move in dynamically changing environments because of an inbuilt depth and obstacle sensing. However, for acting in their environment the internal representation of such systems is usually constructed by hand and known in advance. In contrast,...
Recent advances in the field of humanoid robotics increase the complexity of the tasks that such robots can perform. This makes it increasingly difficult and inconvenient to program these tasks manually. Furthermore, humanoid robots, in contrast to industrial robots, should in the distant future behave within a social environment. Therefore, it must be possible to extend the robot's abilities in an...
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