In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time series of positions and orientations ending at a desired target. Hence, we first discuss the generation of converging pose trajectories via dynamical systems, providing a rigorous stability analysis. Then, we present approaches to merge motion primitives which represent both the position and the orientation part of the motion. Developed approaches preserve the shape of each learned movement and allow for continuous transitions among succeeding motion primitives. Presented methodologies are theoretically described and experimentally evaluated, showing that it is possible to generate a smooth pose trajectory out of multiple motion primitives.

Merging position and orientation motion primitives / Saveriano, M.; Franzel, F.; Lee, D.. - 2019-:(2019), pp. 7041-7047. (Intervento presentato al convegno 2019 International Conference on Robotics and Automation, ICRA 2019 tenutosi a Palais des Congres de Montreal, can nel 2019) [10.1109/ICRA.2019.8793786].

Merging position and orientation motion primitives

Saveriano M.;
2019-01-01

Abstract

In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time series of positions and orientations ending at a desired target. Hence, we first discuss the generation of converging pose trajectories via dynamical systems, providing a rigorous stability analysis. Then, we present approaches to merge motion primitives which represent both the position and the orientation part of the motion. Developed approaches preserve the shape of each learned movement and allow for continuous transitions among succeeding motion primitives. Presented methodologies are theoretically described and experimentally evaluated, showing that it is possible to generate a smooth pose trajectory out of multiple motion primitives.
2019
Proceedings - IEEE International Conference on Robotics and Automation
Piscataway, New Jersey, USA
Institute of Electrical and Electronics Engineers Inc.
978-1-5386-6027-0
Saveriano, M.; Franzel, F.; Lee, D.
Merging position and orientation motion primitives / Saveriano, M.; Franzel, F.; Lee, D.. - 2019-:(2019), pp. 7041-7047. (Intervento presentato al convegno 2019 International Conference on Robotics and Automation, ICRA 2019 tenutosi a Palais des Congres de Montreal, can nel 2019) [10.1109/ICRA.2019.8793786].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/331041
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