Chapter Viscoelasticity in Foot-Ground Interaction
Dynamical models of robots performing tasks in contact with objects or the environment are difficult to obtain. Therefore, different methods of learning the dynamics of tasks have been proposed. In this chapter, we present a method that provides the joint torques needed to execute a task in a compli...
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| المؤلفون الرئيسيون: | , , , |
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| التنسيق: | Online |
| اللغة: | الإنجليزية |
| منشور في: |
InTechOpen
2021
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| الموضوعات: | |
| الوصول للمادة أونلاين: | ONIX_20210602_10.5772/64170_264 |
| الوسوم: |
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| _version_ | 1869525022982275072 |
|---|---|
| author | Naemi, Roozbeh Behforootan, Sara Chatzistergos, Panagiotis Chockalingam, Nachiappan |
| author_browse | Behforootan, Sara Chatzistergos, Panagiotis Chockalingam, Nachiappan Naemi, Roozbeh |
| author_facet | Naemi, Roozbeh Behforootan, Sara Chatzistergos, Panagiotis Chockalingam, Nachiappan |
| author_sort | Naemi, Roozbeh |
| collection | Directory of Open Access Books |
| description | Dynamical models of robots performing tasks in contact with objects or the environment are difficult to obtain. Therefore, different methods of learning the dynamics of tasks have been proposed. In this chapter, we present a method that provides the joint torques needed to execute a task in a compliant and at the same time accurate manner. The presented method of compliant movement primitives (CMPs), which consists of the task kinematical and dynamical trajectories, goes beyond mere reproduction of previously learned motions. Using statistical generalization, the method allows to generate new, previously untrained trajectories. Furthermore, the use of transition graphs allows us to combine parts of previously learned motions and thus generate new ones. In the chapter, we provide a brief overview of this research topic in the literature, followed by an in-depth explanation of the compliant movement primitives framework, with details on both statistical generalization and transition graphs. An extensive experimental evaluation demonstrates the applicability and the usefulness of the approach. |
| format | Online |
| id | doab-20.500.12854ir-70221 |
| institution | Directory of Open Access Books |
| language | eng |
| publishDate | 2021 |
| publishDateRange | 2021 |
| publishDateSort | 2021 |
| publisher | InTechOpen |
| publisherStr | InTechOpen |
| record_format | ojs |
| spelling | doab-20.500.12854ir-702212024-04-14T10:28:29Z Chapter Viscoelasticity in Foot-Ground Interaction Naemi, Roozbeh Behforootan, Sara Chatzistergos, Panagiotis Chockalingam, Nachiappan compliant movements, adaptive system, learning system, robot control, learning by demonstration thema EDItEUR::U Computing and Information Technology::UY Computer science::UYQ Artificial intelligence::UYQV Computer vision Dynamical models of robots performing tasks in contact with objects or the environment are difficult to obtain. Therefore, different methods of learning the dynamics of tasks have been proposed. In this chapter, we present a method that provides the joint torques needed to execute a task in a compliant and at the same time accurate manner. The presented method of compliant movement primitives (CMPs), which consists of the task kinematical and dynamical trajectories, goes beyond mere reproduction of previously learned motions. Using statistical generalization, the method allows to generate new, previously untrained trajectories. Furthermore, the use of transition graphs allows us to combine parts of previously learned motions and thus generate new ones. In the chapter, we provide a brief overview of this research topic in the literature, followed by an in-depth explanation of the compliant movement primitives framework, with details on both statistical generalization and transition graphs. An extensive experimental evaluation demonstrates the applicability and the usefulness of the approach. 2021-02-10T12:58:18Z 2021-06-02T10:07:53Z 2016 chapter ONIX_20210602_10.5772/64170_264 https://library.oapen.org/handle/20.500.12657/49150 https://directory.doabooks.org/handle/20.500.12854/70221 eng open access image/jpeg image/jpeg image/jpeg n/a n/a n/a https://library.oapen.org/bitstream/20.500.12657/49150/1/51513.pdf https://library.oapen.org/bitstream/20.500.12657/49150/1/51513.pdf https://library.oapen.org/bitstream/20.500.12657/49150/1/51513.pdf InTechOpen 10.5772/64170 10.5772/64170 035ecc65-6737-43cf-a13a-6bdf67ce01f4 open access |
| spellingShingle | compliant movements, adaptive system, learning system, robot control, learning by demonstration thema EDItEUR::U Computing and Information Technology::UY Computer science::UYQ Artificial intelligence::UYQV Computer vision Naemi, Roozbeh Behforootan, Sara Chatzistergos, Panagiotis Chockalingam, Nachiappan Chapter Viscoelasticity in Foot-Ground Interaction |
| title | Chapter Viscoelasticity in Foot-Ground Interaction |
| title_full | Chapter Viscoelasticity in Foot-Ground Interaction |
| title_fullStr | Chapter Viscoelasticity in Foot-Ground Interaction |
| title_full_unstemmed | Chapter Viscoelasticity in Foot-Ground Interaction |
| title_short | Chapter Viscoelasticity in Foot-Ground Interaction |
| title_sort | chapter viscoelasticity in foot ground interaction |
| topic | compliant movements, adaptive system, learning system, robot control, learning by demonstration thema EDItEUR::U Computing and Information Technology::UY Computer science::UYQ Artificial intelligence::UYQV Computer vision |
| topic_facet | compliant movements, adaptive system, learning system, robot control, learning by demonstration thema EDItEUR::U Computing and Information Technology::UY Computer science::UYQ Artificial intelligence::UYQV Computer vision |
| url | ONIX_20210602_10.5772/64170_264 |
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