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Conference paper

Movement generation using dynamical systems: a humanoid robot performing a drumming task

Degallier, Sarah; Santos, Cristina; Righetti, Ludovic; Ijspeert, Auke
  • Presented at: IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS06), Genova, December, 2006
  • Published in: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS06)
  • : , 2006

The online generation of trajectories in humanoid robots remains a difficult problem. In this contribution, we present a system that allows the superposition, and the switch between, discrete and rhythmic movements. Our approach uses nonlinear dynamical systems for generating trajectories online and in real time. Our goal is to make use of attractor properties of dynamical systems in order to provide robustness against small perturbations and to enable online modulation of the trajectories. The system is demonstrated on a humanoid robot performing a drumming task.

Keywords: Robotics ; Motor Primitives ; Drumming

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Record created on 2008-10-13, modified on 2012-03-20

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