Velocity Distribution Profile for Robot Arm Motion Using Rational Frenet–Serret Curves

Ravani, Reza; Meghdari, Ali

doi:10.15388/informatica.2006.124

Cited by 14 publications

(9 citation statements)

References 12 publications

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“…However, for many systems, it is sometimes natural to express both the coordinates and basis as functions of time [60,61]. One popular method for developing this noninertial frame is the Frenet-Serret coordinate system, which has been applied in a wide range of fields, including robotics [62,63], aerodynamics [64] and general relativity [65,66].…”

Section: (D) the Frenet-serret Coordinate Framementioning

confidence: 99%

Structured time-delay models for dynamical systems with connections to Frenet–Serret frame

et al. 2021

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Time-delay embedding and dimensionality reduction are powerful techniques for discovering effective coordinate systems to represent the dynamics of physical systems. Recently, it has been shown that models identified by dynamic mode decomposition on time-delay coordinates provide linear representations of strongly nonlinear systems, in the so-called Hankel alternative view of Koopman (HAVOK) approach. Curiously, the resulting linear model has a matrix representation that is approximately antisymmetric and tridiagonal; for chaotic systems, there is an additional forcing term in the last component. In this paper, we establish a new theoretical connection between HAVOK and the Frenet–Serret frame from differential geometry, and also develop an improved algorithm to identify more stable and accurate models from less data. In particular, we show that the sub- and super-diagonal entries of the linear model correspond to the intrinsic curvatures in the Frenet–Serret frame. Based on this connection, we modify the algorithm to promote this antisymmetric structure, even in the noisy, low-data limit. We demonstrate this improved modelling procedure on data from several nonlinear synthetic and real-world examples.

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Section: (D) the Frenet-serret Coordinate Framementioning

confidence: 99%

Structured time-delay models for dynamical systems with connections to Frenet–Serret frame

et al. 2021

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“…2). A suitable choice to define such a plane is given by Frenet-Serret formulas [30] R t = t n b , (…”

Section: Changing the Desired Pathmentioning

confidence: 99%

Analysis of Methods for Incremental Policy Refinement by Kinesthetic Guidance

Simonič

Petrič

Ude

et al. 2021

J Intell Robot Syst

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Traditional robot programming is often not feasible in small-batch production, as it is time-consuming, inefficient, and expensive. To shorten the time necessary to deploy robot tasks, we need appropriate tools to enable efficient reuse of existing robot control policies. Incremental Learning from Demonstration (iLfD) and reversible Dynamic Movement Primitives (DMP) provide a framework for efficient policy demonstration and adaptation. In this paper, we extend our previously proposed framework with improvements that provide better performance and lower the algorithm’s computational burden. Further, we analyse the learning stability and evaluate the proposed framework with a comprehensive user study. The proposed methods have been evaluated on two popular collaborative robots, Franka Emika Panda and Universal Robot UR10.

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“…In order to modify the originally demonstrated trajectory represented by a CSDMP, the robot should be compliant in the directions of normal and binormal directions of the path [23] and stiff in the tangential direction, which is ensured by applying an appropriate control law [24]. This way we are allowed to displace a robot in a plane along these two directions and sample new poses.…”

Section: Teaching Of Follow-up Actionsmentioning

confidence: 99%

Learning of Exception Strategies in Assembly Tasks

Nemec

Simonič

Ude

2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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Assembly tasks performed with a robot often fail due to unforeseen situations, regardless of the fact that we carefully learned and optimized the assembly policy. This problem is even more present in humanoid robots acting in an unstructured environment where it is not possible to anticipate all factors that might lead to the failure of the given task. In this work, we propose a concurrent LfD framework, which associates demonstrated exception strategies to the given context. Whenever a failure occurs, the proposed algorithm generalizes past experience regarding the current context and generates an appropriate policy that solves the assembly issue. For this purpose, we applied PCA on force/torque data, which generates low dimensional descriptor of the current context. The proposed framework was validated in a peg-in-hole (PiH) task using Franka-Emika Panda robot.

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Velocity Distribution Profile for Robot Arm Motion Using Rational Frenet–Serret Curves

Cited by 14 publications

References 12 publications

Structured time-delay models for dynamical systems with connections to Frenet–Serret frame

Structured time-delay models for dynamical systems with connections to Frenet–Serret frame

Analysis of Methods for Incremental Policy Refinement by Kinesthetic Guidance

Learning of Exception Strategies in Assembly Tasks

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