Workspace Trajectory Generation Method for Humanoid Adaptive Walking With Dynamic Motion Primitives

Liu, Chengju; Geng, Wandong; Liu, Ming; Chen, Qijun

doi:10.1109/access.2020.2976098

Cited by 6 publications

(3 citation statements)

References 39 publications

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“…The approach was successfully illustrated in simulation using a 10-DoF robot arm. Liu et al (2020) proposed DMP-based trajectory generation to enable a full-body humanoid robot with 10-DoFs (for the two legs) to realize adaptive walking. Liang et al (2021) developed an efficient approach to enable service robots with 26 DoFs with the skill of performing sign language motions.…”

Section: Dmps In Application Scenariosmentioning

confidence: 99%

Dynamic movement primitives in robotics: A tutorial survey

Saveriano,

Abu-Dakka,

Kramberger

et al. 2023

The International Journal of Robotics Research

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Biological systems, including human beings, have the innate ability to perform complex tasks in a versatile and agile manner. Researchers in sensorimotor control have aimed to comprehend and formally define this innate characteristic. The idea, supported by several experimental findings, that biological systems are able to combine and adapt basic units of motion into complex tasks finally leads to the formulation of the motor primitives’ theory. In this respect, Dynamic Movement Primitives (DMPs) represent an elegant mathematical formulation of the motor primitives as stable dynamical systems and are well suited to generate motor commands for artificial systems like robots. In the last decades, DMPs have inspired researchers in different robotic fields including imitation and reinforcement learning, optimal control, physical interaction, and human–robot co-working, resulting in a considerable amount of published papers. The goal of this tutorial survey is two-fold. On one side, we present the existing DMP formulations in rigorous mathematical terms and discuss the advantages and limitations of each approach as well as practical implementation details. In the tutorial vein, we also search for existing implementations of presented approaches and release several others. On the other side, we provide a systematic and comprehensive review of existing literature and categorize state-of-the-art work on DMP. The paper concludes with a discussion on the limitations of DMPs and an outline of possible research directions.

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Section: Dmps In Application Scenariosmentioning

confidence: 99%

Dynamic movement primitives in robotics: A tutorial survey

Saveriano,

Abu-Dakka,

Kramberger

et al. 2023

The International Journal of Robotics Research

View full text Add to dashboard Cite

show abstract

“…The approach was successfully illustrated in simulation using a 10-DoFs robot arm. Liu et al (2020) proposed DMP-based trajectory generation to enable a full-body humanoid robot with 10-DoFs (for the two legs) to realize adaptive walking. Travers et al (2016Travers et al ( , 2018 proposed a framework that integrates DMP with Gaussian-shaped spatial activation windows in order to plan the motion for high DoF robotic systems (e.g., snake-like robot) in complex environment (with obstacles) by linking low-level controllers to high-level planners.…”

Section: High Dof Robotsmentioning

confidence: 99%

Dynamic Movement Primitives in Robotics: A Tutorial Survey

Saveriano¹,

Abu‐Dakka²,

Kramberger³

et al. 2021

Preprint

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Biological systems, including human beings, have the innate ability to perform complex tasks in versatile and agile manner. Researchers in sensorimotor control have tried to understand and formally define this innate property. The idea, supported by several experimental findings, that biological systems are able to combine and adapt basic units of motion into complex tasks finally lead to the formulation of the motor primitives theory. In this respect, Dynamic Movement Primitives (DMPs) represent an elegant mathematical formulation of the motor primitives as stable dynamical systems, and are well suited to generate motor commands for artificial systems like robots. In the last decades, Dynamic Movement Primitives (DMPs) have inspired researchers in different robotic fields including imitation and reinforcement learning, optimal control, physical interaction, and human-robot co-working, resulting a considerable amount of published papers. The goal of this tutorial survey is two-fold. On one side, we present the existing DMPs formulations in rigorous mathematical terms, and discuss advantages and limitations of each approach as well as practical implementation details. In the tutorial vein, we also search for existing implementations of presented approaches and release several others. On the other side, we provide a systematic and comprehensive review of existing literature and categorize state of the art work on DMP. The paper concludes with a discussion on the limitations of DMPs and an outline of possible research directions.

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“…Many scholars have conducted in-depth research on the stability of mobile robots 21 . In this respect, it can not only be realized by designing mechanical structures, but also be optimized from the stability algorithm level 22 – 24 .Wang et al proposed four dynamic rolling motion schemes for a morphological rolling robot with a closed five-arc linkage mechanism and compared them 25 . Jing et al studied the influence of the trajectory of the centroid on the stable walking of the mobile robot, and designed a control system that can adaptively adjust the centroid 26 .…”

Section: Introductionmentioning

confidence: 99%

Design and stability analysis of the gear-type mobile mechanism with a single actuator

Shi,

Tang,

Liu

et al. 2024

Sci Rep

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Gear mechanism transmits the motion and power of parallel axes, intersecting axes and staggered axes, which has been widely employed in production and life. Gear-type mobile mechanism is a type of robot that can achieve motion through gear transmission. Due to its unique motion mode, it can handle various tasks in certain unconventional environments, such as particularly steep surfaces. Cylindrical gear, bevel gear and non-cylindrical gear are taken as the main parts of the mechanism to form a novel research series, respectively. The models of gear-type mobile mechanism are established in this paper, and the degrees of freedom of the mechanism are briefly calculated based on the screw theory. Simultaneously, the influence of centroid trajectory on motion stability is discussed to solve the possible problem that opposite rotation occur during the movement. Furthermore, the trajectory model of zero moment point is calculated considering the motion of the gear-type mobile mechanism. After that, the simulation and experimental analysis of its motion capability show that the gear-type mobile mechanism has excellent characteristics in stability, flexibility and continuity.

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Workspace Trajectory Generation Method for Humanoid Adaptive Walking With Dynamic Motion Primitives

Cited by 6 publications

References 39 publications

Dynamic movement primitives in robotics: A tutorial survey

Dynamic movement primitives in robotics: A tutorial survey

Dynamic Movement Primitives in Robotics: A Tutorial Survey

Design and stability analysis of the gear-type mobile mechanism with a single actuator

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