Visualization of Stable Heteroclinic Channel-Based Movement Primitives
Visualization of Stable Heteroclinic Channel-Based Movement Primitives
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DOI：
10.1109/lra.2021.3061382
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发表时间：
2021-04
影响因子：
5.2
通讯作者：
Natasha A. Rouse;K. Daltorio
中科院分区：
文献类型：
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作者：
Natasha A. Rouse;K. Daltorio
运动基元是机器人运动规划的一种成熟方法，因为它们为机器人运动规划提供了模块化基础。动态运动基元（DMP）是一种流行的控制框架，基于非线性微分方程，当按时间缩放时，产生平滑的运动学运动计划。在这封信中，我们介绍了一个调整后的运动原始框架，取代了稳定的平衡点的DMPs鞍点。这些鞍点在稳定的异宿通道（SHC）中连接在一起，这些通道又是称为稳定异宿网络的动力系统的一部分。基于SHC的运动基元（SMPs）形成一个框架，其中核函数的权重在任务空间中具有空间意义。在这封信中，我们根据基于运动学的成本函数表明，SMPs和DMP的性能相当。我们还表明，SMP内核的权重遵循给定的轨迹时，绘制在任务空间。绘制的核权重为管理控制器提供了直观的工具。
Movement primitives are a well-established approach to robot motion planning, as they offer a modular basis for robot motion planning. Dynamic movement primitives (DMPs) are a popular control framework based on nonlinear differential equations which, when scaled in time, produce a smooth kinematic movement plan. In this letter, we introduce an adjusted movement primitive framework which replaces the stable equilibria of DMPs with saddle points. These saddle points are linked together in stable heteroclinic channels (SHCs) which are in turn part of dynamical systems called stable heteroclinic networks. SHC-based movement primitives (SMPs) form a framework where the weights of the kernel functions have spatial significance in the task space. In this letter, we show that SMPs and DMPs perform comparably according to a kinematic-based cost function. We also show that SMP kernel weights follow a given trajectory when plotted in the task space. The plotted kernel weights provide an intuitive tool for managing the controller.