Impact of Body Parameters on Dynamic Movement Primitives for Robot Control | Zendy

Naveen Kuppuswamy | Zendy; Cristiano Alessandro | Zendy

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Impact of Body Parameters on Dynamic Movement Primitives for Robot Control

Author(s) -

Naveen Kuppuswamy,

Cristiano Alessandro

Publication year - 2011

Publication title -

procedia computer science

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.334

H-Index - 76

ISSN - 1877-0509

DOI - 10.1016/j.procs.2011.09.068

Subject(s) - computer science , robot , movement (music) , process (computing) , dynamics (music) , work (physics) , artificial intelligence , simulation , human–computer interaction , mechanical engineering , philosophy , physics , acoustics , engineering , operating system , aesthetics

The problem of movement coordination in large DoF (Degree of Freedom) robots is complex due to redundancies. In this regard, Dynamic Movement Primitive (DMP) is a useful planning technique, inspired by biology, that can be used to store and reproduce trajectories about every DoF. This work is a preliminary study that aims to understand and quantify the influence of the robot dynamics upon the performance of DMP in a simulated 2DoF robot arm. The investigation demonstrates that the effect of the robot body dynamics needs to be taken into account during the learning process of the DMP

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