Temporal stabilization of discrete movement in variable environments: An attractor dynamics approach

  • The ability to generate discrete movement with distinct and stable time courses is important for interaction scenarios both between different robots and with human partners, for catching and interception tasks, and for timed action sequences. In dynamic environments, where trajectories are evolving online, this is not a trivial task. The dynamical systems approach to robotics provides a framework for robust incorporation of fluctuating sensor information, but control of movement time is usually restricted to rhythmic motion and realized through stable limit cycles. The present work uses a Hopf oscillator to produce discrete motion and formulates an online adaptation rule to stabilize total movement time against a wide range of disturbances. This is integrated into a dynamical systems framework for the sequencing of movement phases and for directional navigation, using 2D-planar motion as an example. The approach is demonstrated on a Khepera mobile unit in order to show its reliability even when depending on low-level sensor information.

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Metadaten
Author:Tuma Matthias, Iossifidis Ioannis, Schoner Gregot
URL:https://ieeexplore.ieee.org/document/5152562/figures#figures
DOI:https://doi.org/10.1109/ROBOT.2009.5152562
Parent Title (German):Proceedings 2009 IEEE International Conference on Robotics and Automation
Document Type:Conference Proceeding
Language:German
Year of Completion:2009
Date of first Publication:2019/03/08
Creating Corporation:IEEE International Conference on Robotics and Automation ICRA '09
Release Date:2019/03/08
First Page:683
Last Page:686
Institutes:Fachbereich 1 - Institut Informatik
DDC class:000 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Licence (German):License LogoNo Creative Commons