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Dynamic movement primitives (DMPs) are a method of trajectory control/planning from Stefan Schaal’s lab. Complex movements have long been thought to be composed of sets of primitive action ‘building blocks’ executed in sequence and \ or in parallel, and DMPs are a proposed mathematical formalization of these primitives. The difference between DM…
Development of adaptive control algorithms for the automatic adjustment of the level of assistance to be provided to the patient in rehabilitation on the basis of the interpretation of movement intentions and the progress made in the recovery of motor functions. The platform of interest is Kuka MED Robot.
kinematics, newton-euler dynamics and centralized/decentralized control of a KUKA robotic gripper -- up next safe reinforcement learning with optimistic exploration instead of trajectory planning. 2019
Iterations of dynamic movement primitive (DMP) & SHC-based movement primitive (SMP) comparison scripts. SMP framework based on Lotka-Volterra equations.