文章基本信息

标题：A Segmentation Scheme for CLF Dynamic Movement Control Applied to Robotic Handwriting
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作者：Patrick Göttsch ; Robin Olschewski ; Herbert Werner 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：11459-11464
DOI：10.1016/j.ifacol.2017.08.1818
语种：English
出版社：Elsevier
摘要：AbstractControl Lyapunov Function - Dynamic Movement is a recently proposed imitation learning approach for controlling point-to-point movements. In this work some practical issues arising with this approach have been investigated by studying a particular application: robotic handwriting of German letters. One difficulty in this context is the handling of crossings. Here a novel segmentation scheme is proposed to eliminate crossings. Using a segmentation framework for splitting up the movement into a number of partial movements has additional advantages: It reduces the computational time for calculating the dynamic system that is required in this approach, as well as the time for calculating a Lyapunov function because of the simpler parametrization. This proposed segmentation scheme has been validated experimentally on a CRS A465 robotic manipulator.
关键词：KeywordsRobotics technologyAutonomous robotic systemsRobots manipulatorsLyapunov methods