Learning Accurate and Stable Point-to-Point Motions: A Dynamic System Approach

doi:10.1109/LRA.2022.3140677

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Learning Accurate and Stable Point-to-Point Motions: A Dynamic System Approach
	Zhang, Yu 1,2; Cheng, Long 1,2; Li, Houcheng 1,2; Cao, Ran 1,2
刊名	IEEE ROBOTICS AND AUTOMATION LETTERS
	2022-04-01
卷号	7 期号:2 页码:1510-1517
关键词	Point-to-point tasks neural network dynamic system generalization performance high dimensional data
ISSN号	2377-3766
DOI	10.1109/LRA.2022.3140677
通讯作者	Cheng, Long(long.cheng@ia.ac.cn)
英文摘要	This letter proposes a dynamic system approach to learn point-to-point motions while keeping the stability of the dynamic system. The proposed approach is grounded on a Learning from Demonstration (LfD) method based on a neural network, which gets a better reproduction performance while guaranteeing the generalization ability. The proposed approach has been experimentally validated on the LASA dataset and by the "pick-and-place" task of Franke Emika robot, and experimental results demonstrate that: (1) compared with the state-of-the-art results, the trajectory generated by the proposed approach achieves higher accuracy (approximately 24.79%) in terms of the similarity with respect to the demonstration; (2) the proposed approach can handle high dimensional data and learn from one or more demonstrations; (3) the proposed approach can guarantee the performance regardless of the variation of starting points even in the case of high dimensional complex motions.
资助项目	National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209] ; National Natural Science Foundation of China[61873013] ; Beijing Natural Science Foundation[JQ19020]
WOS关键词	MOVEMENT PRIMITIVES ; IMITATION ; TASK
WOS研究方向	Robotics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000742721400003
资助机构	National Natural Science Foundation of China ; Beijing Natural Science Foundation
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/47051]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Cheng, Long
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Yu,Cheng, Long,Li, Houcheng,et al. Learning Accurate and Stable Point-to-Point Motions: A Dynamic System Approach[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(2):1510-1517.
APA	Zhang, Yu,Cheng, Long,Li, Houcheng,&Cao, Ran.(2022).Learning Accurate and Stable Point-to-Point Motions: A Dynamic System Approach.IEEE ROBOTICS AND AUTOMATION LETTERS,7(2),1510-1517.
MLA	Zhang, Yu,et al."Learning Accurate and Stable Point-to-Point Motions: A Dynamic System Approach".IEEE ROBOTICS AND AUTOMATION LETTERS 7.2(2022):1510-1517.