A topological extension of movement primitives for curvature modulation and sampling of robot motion

The version of record is available online at: https://doi.org/10.1007/s10514-021-09976-7

Detalles Bibliográficos
Autores: Colomé Figueras, Adrià, Torras, Carme|||0000-0002-2933-398X
Tipo de recurso: artículo
Fecha de publicación:2021
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/362870
Acceso en línea:https://hdl.handle.net/2117/362870
https://dx.doi.org/10.1007/s10514-021-09976-7
Access Level:acceso abierto
Palabra clave:Humanoid robots
Intelligent robots
Manipulators
Robots
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling A topological extension of movement primitives for curvature modulation and sampling of robot motionColomé Figueras, AdriàTorras, Carme|||0000-0002-2933-398XHumanoid robotsIntelligent robotsManipulatorsRobotsClassificació INSPEC::Automation::RobotsÀrees temàtiques de la UPC::Informàtica::RobòticaThe version of record is available online at: https://doi.org/10.1007/s10514-021-09976-7This paper proposes to enrich robot motion data with trajectory curvature information. To do so,we use an approximate implementation of a topological feature named writhe, which measures the curling of a closed curve around itself, and its analog feature for two closed curves, namely the linking number. Despite these features have been established for closed curves, their definition allows for a discrete calculation that is well-defined for non-closed curves and can thus provide information about how much a robot trajectory is curling around a line in space. Such lines can be predefined by a user, observed by vision or, in our case, inferred as virtual lines in space around which the robot motion is curling. We use these topological features to augment the data of a trajectory encapsulated as a Movement Primitive (MP). We propose a method to determine how many virtual segments best characterize a trajectory and then find such segments. This results in a generative model that permits modulating curvature to generate new samples, while still staying within the dataset distribution and being able to adapt to contextual variables.This work has been carried out within the project CLOTHILDE (”CLOTH manIpulation Learning from DEmonstrations”) funded by the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme (Advanced Grant agreement No 741930). Research at IRI is also supported by the Spanish State Research Agency through the Mar ́ıa de Maeztu Seal of Excellence to IRI MDM-2016-0656Peer ReviewedSpringer Nature20212021-01-0120222022-02-22journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/362870https://dx.doi.org/10.1007/s10514-021-09976-7reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)InglésengEuropean Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 741930 CLOTH manIpulation Learning from DEmonstrationsopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/3628702026-05-27T15:37:01Z
dc.title.none.fl_str_mv A topological extension of movement primitives for curvature modulation and sampling of robot motion
title A topological extension of movement primitives for curvature modulation and sampling of robot motion
spellingShingle A topological extension of movement primitives for curvature modulation and sampling of robot motion
Colomé Figueras, Adrià
Humanoid robots
Intelligent robots
Manipulators
Robots
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short A topological extension of movement primitives for curvature modulation and sampling of robot motion
title_full A topological extension of movement primitives for curvature modulation and sampling of robot motion
title_fullStr A topological extension of movement primitives for curvature modulation and sampling of robot motion
title_full_unstemmed A topological extension of movement primitives for curvature modulation and sampling of robot motion
title_sort A topological extension of movement primitives for curvature modulation and sampling of robot motion
dc.creator.none.fl_str_mv Colomé Figueras, Adrià
Torras, Carme|||0000-0002-2933-398X
author Colomé Figueras, Adrià
author_facet Colomé Figueras, Adrià
Torras, Carme|||0000-0002-2933-398X
author_role author
author2 Torras, Carme|||0000-0002-2933-398X
author2_role author
dc.subject.none.fl_str_mv Humanoid robots
Intelligent robots
Manipulators
Robots
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Humanoid robots
Intelligent robots
Manipulators
Robots
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
description The version of record is available online at: https://doi.org/10.1007/s10514-021-09976-7
publishDate 2021
dc.date.none.fl_str_mv 2021
2021-01-01
2022
2022-02-22
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/362870
https://dx.doi.org/10.1007/s10514-021-09976-7
url https://hdl.handle.net/2117/362870
https://dx.doi.org/10.1007/s10514-021-09976-7
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv European Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 741930 CLOTH manIpulation Learning from DEmonstrations
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Springer Nature
publisher.none.fl_str_mv Springer Nature
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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