Dynamic Movement Primitives-A Framework for Motor Control in Humans and Humanoid Robotics

Abstract

Given the continuous stream of movements that biological systems exhibit in their daily activities, an account for such versatility and creativity has to assume that movement sequences consist of segments, executed either in sequence or with partial or complete overlap. Therefore, a fundamental question that has pervaded research in motor control both in artificial and biological systems revolves around identifying movement primitives (a.k.a. units of actions, basis behaviors, motor schemas, etc.). What are the fundamental building blocks that are strung together, adapted to, and created for ever new behaviors? This paper summarizes results that led to the hypothesis of Dynamic Movement Primitives (DMP).

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
AD1154811

Entities

People

  • Stefan Schaal

Organizations

  • University of Southern California

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Autonomous Navigation
  • Brain
  • Cognitive Science
  • Computational Neuroscience
  • Computational Science
  • Computer Programming
  • Control Systems
  • Data Analysis
  • Differential Equations
  • Information Processing
  • Information Science
  • Information Systems
  • Joints (Anatomy)
  • Mathematical Analysis
  • Nervous System
  • Neural Networks
  • Neurosciences
  • Psychology
  • Robotics
  • Robots
  • Self Organizing Systems
  • Three Dimensional

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Artificial Intelligence
  • Electrical Engineering

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy