000203736 001__ 203736
000203736 005__ 20190416055544.0
000203736 0247_ $$2doi$$a10.1109/ICRA.2014.6907181
000203736 037__ $$aCONF
000203736 245__ $$aRich periodic motor skills on humanoid robots: Riding the pedal racer
000203736 269__ $$a2014
000203736 260__ $$bIEEE$$c2014
000203736 336__ $$aConference Papers
000203736 520__ $$aJust as their discrete counterparts, periodic or rhythmic dynamic motion primitives allow easily modulated and robust motion generation, but for periodic tasks. In this paper we present an approach for modulating periodic dynamic movement primitives based on force feedback, allowing for rich motor behavior and skills. We propose and evaluate the combination of feedback and learned feed-forward terms to fully adapt the motions of a robot in order to achieve a desired force interaction with the environment. For the learning we employ the notion of repetitive control, which can effectively minimize the error of behavior towards a given reference. To demonstrate the approach, we show results of simulated and real world experiments on a compliant humanoid robot COMAN. We show the initial results of utilizing the approach to control a pedal-racer, a demanding balance toy best described as a hybrid between a skateboard and a bicycle. © 2014 IEEE.
000203736 700__ $$0246886$$g182791$$aGams, Andrej
000203736 700__ $$0243942$$g188369$$aVan den Kieboom, Jesse
000203736 700__ $$0245188$$g207295$$aVespignani, Massimo
000203736 700__ $$0246010$$g210788$$aGuyot, Luc
000203736 700__ $$aUde, Aleš
000203736 700__ $$0241344$$g115955$$aIjspeert, Auke
000203736 7112_ $$d31 May - 7 June 2014$$cHong Kong, China$$a2014 IEEE International Conference on Robotics and Automation (ICRA)
000203736 773__ $$tProceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014)$$q2326-2332
000203736 8564_ $$uhttps://infoscience.epfl.ch/record/203736/files/ICRA14_0451_FI.pdf$$zPostprint$$s2156862$$yPostprint
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000203736 937__ $$aEPFL-CONF-203736
000203736 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000203736 980__ $$aCONF