Dynamic Movement Primitives for cooperative manipulation and synchronized motions

Jonas Umlauft; Dominik Sieber; Sandra Hirche

doi:10.1109/ICRA.2014.6906941

Dynamic Movement Primitives for cooperative manipulation and synchronized motions

Jonas Umlauft
, Dominik Sieber
, Sandra Hirche

Chair of Information-oriented Control

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

34 Scopus citations

Abstract

Cooperative manipulation, where several robots jointly manipulate an object from an initial configuration to a final configuration while preserving the robot formation, poses a great challenge in robotics. Here, we treat the problem of designing motion primitives for cooperative manipulation such that the robots move in formation and are robust with respect to external disturbances. Individual robot trajectories are generated by Dynamic Movement Primitives (DMPs) and coupled by a formation control approach enabling the DMP-trajectories to preserve a given formation while performing the manipulation. The proposed control scheme achieves an increased adaptability under external disturbances. The approach is evaluated in a full-scale experiment with two prototypical cooperative manipulation and synchronized motion tasks.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	766-771
Number of pages	6
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6906941
State	Published - 22 Sep 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

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10.1109/ICRA.2014.6906941

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Umlauft, J., Sieber, D., & Hirche, S. (2014). Dynamic Movement Primitives for cooperative manipulation and synchronized motions. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 766-771). Article 6906941 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6906941

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title = "Dynamic Movement Primitives for cooperative manipulation and synchronized motions",

abstract = "Cooperative manipulation, where several robots jointly manipulate an object from an initial configuration to a final configuration while preserving the robot formation, poses a great challenge in robotics. Here, we treat the problem of designing motion primitives for cooperative manipulation such that the robots move in formation and are robust with respect to external disturbances. Individual robot trajectories are generated by Dynamic Movement Primitives (DMPs) and coupled by a formation control approach enabling the DMP-trajectories to preserve a given formation while performing the manipulation. The proposed control scheme achieves an increased adaptability under external disturbances. The approach is evaluated in a full-scale experiment with two prototypical cooperative manipulation and synchronized motion tasks.",

author = "Jonas Umlauft and Dominik Sieber and Sandra Hirche",

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doi = "10.1109/ICRA.2014.6906941",

language = "English",

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Umlauft, J, Sieber, D & Hirche, S 2014, Dynamic Movement Primitives for cooperative manipulation and synchronized motions. in Proceedings - IEEE International Conference on Robotics and Automation., 6906941, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 766-771, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6906941

Dynamic Movement Primitives for cooperative manipulation and synchronized motions. / Umlauft, Jonas; Sieber, Dominik; Hirche, Sandra.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 766-771 6906941 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Cooperative manipulation, where several robots jointly manipulate an object from an initial configuration to a final configuration while preserving the robot formation, poses a great challenge in robotics. Here, we treat the problem of designing motion primitives for cooperative manipulation such that the robots move in formation and are robust with respect to external disturbances. Individual robot trajectories are generated by Dynamic Movement Primitives (DMPs) and coupled by a formation control approach enabling the DMP-trajectories to preserve a given formation while performing the manipulation. The proposed control scheme achieves an increased adaptability under external disturbances. The approach is evaluated in a full-scale experiment with two prototypical cooperative manipulation and synchronized motion tasks.

AB - Cooperative manipulation, where several robots jointly manipulate an object from an initial configuration to a final configuration while preserving the robot formation, poses a great challenge in robotics. Here, we treat the problem of designing motion primitives for cooperative manipulation such that the robots move in formation and are robust with respect to external disturbances. Individual robot trajectories are generated by Dynamic Movement Primitives (DMPs) and coupled by a formation control approach enabling the DMP-trajectories to preserve a given formation while performing the manipulation. The proposed control scheme achieves an increased adaptability under external disturbances. The approach is evaluated in a full-scale experiment with two prototypical cooperative manipulation and synchronized motion tasks.

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M3 - Conference contribution

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BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers Inc.

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Umlauft J, Sieber D, Hirche S. Dynamic Movement Primitives for cooperative manipulation and synchronized motions. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 766-771. 6906941. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6906941

Dynamic Movement Primitives for cooperative manipulation and synchronized motions

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