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Motion Adaptation Based on Learning the Manifold of Task and Dynamic Movement Primitive Parameters

Published online by Cambridge University Press:  18 December 2020

Yosef Cohen ,
Or Bar-Shira  and
Sigal Berman Open the ORCID record for Sigal Berman [Opens in a new window]
Yosef Cohen
Affiliation:
Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel
Or Bar-Shira
Affiliation:
Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel
Sigal Berman*
Affiliation:
Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel Zlotowski Center for Neuroscience, Ben-Gurion University of the Negev, Beer-Sheva, Israel
*
*Corresponding author. E-mail: sigalbe@bgu.ac.il
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Summary

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Dynamic movement primitives (DMP) are motion building blocks suitable for real-world tasks. We suggest a methodology for learning the manifold of task and DMP parameters, which facilitates runtime adaptation to changes in task requirements while ensuring predictable and robust performance. For efficient learning, the parameter space is analyzed using principal component analysis and locally linear embedding. Two manifold learning methods: kernel estimation and deep neural networks, are investigated for a ball throwing task in simulation and in a physical environment. Low runtime estimation errors are obtained for both learning methods, with an advantage to kernel estimation when data sets are small.

Keywords

Dynamic movement primitivesKernel estimationDeep Neural networksMotion planningLearning

Information

Type
Article
Information
Robotica , Volume 39 , Issue 7 , July 2021 , pp. 1299 - 1315
Creative Commons
Creative Common License - CCCreative Common License - BY
This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted re-use, distribution, and reproduction in any medium, provided the original work is properly cited.
Copyright
© The Author(s), 2020. Published by Cambridge University Press

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