Synthesis of New Dynamic Movement Primitives Through Search in a Hierarchical Database of Example Movements
This paper presents a novel approach to discovering motor primitives in a hierarchical database of example trajectories. An initial set of example trajectories is obtained by human demonstration. The trajectories are clustered and organized in a binary tree-like hierarchical structure, from which tr...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2015-10-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/61036 |
| _version_ | 1818156700048293888 |
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| author | Miha Deniša Aleš Ude |
| author_facet | Miha Deniša Aleš Ude |
| author_sort | Miha Deniša |
| collection | DOAJ |
| description | This paper presents a novel approach to discovering motor primitives in a hierarchical database of example trajectories. An initial set of example trajectories is obtained by human demonstration. The trajectories are clustered and organized in a binary tree-like hierarchical structure, from which transition graphs at different levels of granularity are constructed. A novel procedure for searching in this hierarchical structure is presented. It can exploit the interdependencies between movements and can discover new series of partial paths. From these partial paths, complete new movements are generated by encoding them as dynamic movement primitives. In this way, the number of example trajectories that must be acquired with the assistance of a human teacher can be reduced. By combining the results of the hierarchical search with statistical generalization techniques, a complete representation of new, not directly demonstrated, movement primitives can be generated. |
| first_indexed | 2024-12-11T15:02:28Z |
| format | Article |
| id | doaj.art-e63cdbe229514ffab1dd68c471680956 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T15:02:28Z |
| publishDate | 2015-10-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-e63cdbe229514ffab1dd68c4716809562022-12-22T01:01:05ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142015-10-011210.5772/6103610.5772_61036Synthesis of New Dynamic Movement Primitives Through Search in a Hierarchical Database of Example MovementsMiha Deniša0Aleš Ude1 Jomžef Stefan Institute, Ljubljana, Slovenia Jomžef Stefan Institute, Ljubljana, SloveniaThis paper presents a novel approach to discovering motor primitives in a hierarchical database of example trajectories. An initial set of example trajectories is obtained by human demonstration. The trajectories are clustered and organized in a binary tree-like hierarchical structure, from which transition graphs at different levels of granularity are constructed. A novel procedure for searching in this hierarchical structure is presented. It can exploit the interdependencies between movements and can discover new series of partial paths. From these partial paths, complete new movements are generated by encoding them as dynamic movement primitives. In this way, the number of example trajectories that must be acquired with the assistance of a human teacher can be reduced. By combining the results of the hierarchical search with statistical generalization techniques, a complete representation of new, not directly demonstrated, movement primitives can be generated.https://doi.org/10.5772/61036 |
| spellingShingle | Miha Deniša Aleš Ude Synthesis of New Dynamic Movement Primitives Through Search in a Hierarchical Database of Example Movements International Journal of Advanced Robotic Systems |
| title | Synthesis of New Dynamic Movement Primitives Through Search in a Hierarchical Database of Example Movements |
| title_full | Synthesis of New Dynamic Movement Primitives Through Search in a Hierarchical Database of Example Movements |
| title_fullStr | Synthesis of New Dynamic Movement Primitives Through Search in a Hierarchical Database of Example Movements |
| title_full_unstemmed | Synthesis of New Dynamic Movement Primitives Through Search in a Hierarchical Database of Example Movements |
| title_short | Synthesis of New Dynamic Movement Primitives Through Search in a Hierarchical Database of Example Movements |
| title_sort | synthesis of new dynamic movement primitives through search in a hierarchical database of example movements |
| url | https://doi.org/10.5772/61036 |
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