Dynamic Movement Primitives model
GPTKB entity
Statements (48)
| Predicate | Object |
|---|---|
| gptkbp:instanceOf |
theoretical computer science
|
| gptkbp:basedOn |
dynamical systems
|
| gptkbp:canBe |
gptkb:technology
gptkb:reinforcement_learning robot arm control legged locomotion manipulation tasks |
| gptkbp:combines |
gptkb:reinforcement_learning
gptkb:Gaussian_Mixture_Models probabilistic models |
| gptkbp:enables |
trajectory generation
generalization of movements trajectory modulation |
| gptkbp:extendsTo |
rhythmic movements
discrete movements |
| gptkbp:hasApplication |
animation
autonomous vehicles industrial robots prosthetics humanoid robots rehabilitation robotics |
| gptkbp:hasComponent |
transformation system
canonical system forcing term |
| gptkbp:hasProperty |
flexible
scalable time-invariant goal-directed robust to perturbations |
| https://www.w3.org/2000/01/rdf-schema#label |
Dynamic Movement Primitives model
|
| gptkbp:limitation |
parameter tuning required
limited expressiveness for complex tasks sensitivity to demonstration quality |
| gptkbp:parameter |
goal position
spatial scaling start position temporal scaling weights of basis functions |
| gptkbp:proposedBy |
gptkb:Stefan_Schaal
2002 |
| gptkbp:relatedTo |
imitation learning
nonlinear dynamical systems motor primitives |
| gptkbp:usedIn |
robotics
motor control imitation learning |
| gptkbp:bfsParent |
gptkb:DMP_model
|
| gptkbp:bfsLayer |
7
|