The Worldwide Journal of Robotics Analysis, Forward of Print.
Motor primitives are basic constructing blocks of a controller which allow dynamic robotic conduct with minimal high-level intervention. By treating motor primitives as fundamental “modules,” completely different modules will be sequenced or superimposed to generate a wealthy repertoire of motor conduct. In robotics, two distinct approaches have been proposed: Dynamic Motion Primitives (DMPs) and Elementary Dynamic Actions (EDAs). Whereas each approaches instantiate related concepts, vital variations additionally exist. This paper makes an attempt to make clear the excellence and supply a unifying view by delineating the similarities and variations between DMPs and EDAs. We offer 9 robotic management examples, together with sequencing or superimposing actions, managing kinematic redundancy and singularity, management of each place and orientation of the robotic’s end-effector, impediment avoidance, and managing bodily interplay. We present that the 2 approaches clearly diverge of their implementation. We additionally present a real-robot demonstration to point out how DMPs and EDAs will be mixed to get the very best of each approaches. With this detailed comparability, we allow researchers to make knowledgeable choices to pick essentially the most appropriate method for particular robotic duties and functions.
发布者：Moses C. Nah，转转请注明出处：https://robotalks.cn/robot-control-based-on-motor-primitives-a-comparison-of-two-approaches/
