论文标题
合并位置和方向运动原始
Merging Position and Orientation Motion Primitives
论文作者
论文摘要
在本文中，我们专注于通过融合顺序运动原语产生复杂的机器人轨迹。机器人轨迹是以所需目标结束的位置和方向的时间序列。因此，我们首先通过动态系统讨论融合姿势轨迹的产生，从而提供了严格的稳定性分析。然后，我们提出合并运动原语的方法，该动作原始既代表运动的位置和方向部分。开发的方法可以保留每个学到的运动的形状，并允许随后的运动原语中的连续过渡。理论上描述和实验评估了提出的方法，表明可以从多个运动原始素中产生平滑的姿势轨迹。
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.
