Extended DMPs Framework for Position and Decoupled Quaternion Learning and Generalization

Extended DMPs Framework for Position and Decoupled Quaternion Learning and Generalization

Abstract Dynamic movement primitives (DMPs) as a robust and efficient framework has been studied widely for robot learning from demonstration. Classical DMPs framework mainly focuses on the movement learning in Cartesian or joint space, and can't properly represent end-effector orientation. In...

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Bibliographic Details
Main Authors: Zhiwei Liao, Fei Zhao, Gedong Jiang, Xuesong Mei
Format: Article
Language:English
Published: SpringerOpen 2022-07-01
Series:Chinese Journal of Mechanical Engineering
Subjects:
Learning from demonstration
Dynamic movement primitives
2D sphere manifold
Gaussian mixture model
Gaussian mixture regression
Quaternion-based orientation
Online Access:https://doi.org/10.1186/s10033-022-00761-w

Internet

https://doi.org/10.1186/s10033-022-00761-w

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