research-article

Dynamic Movement Primitives: Volumetric Obstacle Avoidance Using Dynamic Potential Functions

Authors:

Michele Ginesi,

Andrea Roberti,

Nicola Sansonetto,

Paolo FioriniAuthors Info & Claims

Journal of Intelligent & Robotic Systems, Volume 101, Issue 4

https://doi.org/10.1007/s10846-021-01344-y

Published: 01 April 2021 Publication History

Abstract

Obstacle avoidance for Dynamic Movement Primitives (DMPs) is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to represent volumes. In this work, we extend our previous work to include the velocity of the system in the definition of the potential. Our formulations guarantee smoother behavior with respect to state-of-the-art point-like methods. Moreover, our new formulation allows obtaining a smoother behavior in proximity of the obstacle than when using a static (i.e. velocity independent) potential. We validate our framework for obstacle avoidance in a simulated multi-robot scenario and with different real robots: a pick-and-place task for an industrial manipulator and a surgical robot to show scalability; and navigation with a mobile robot in a dynamic environment.

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Cited By

Sidiropoulos ADoulgeri Z(2024)Dynamic Via-points and Improved Spatial Generalization for Online Trajectory Generation with Dynamic Movement PrimitivesJournal of Intelligent and Robotic Systems10.1007/s10846-024-02051-0110:1Online publication date: 29-Jan-2024
https://dl.acm.org/doi/10.1007/s10846-024-02051-0
Lukáš DKot T(2023)Hierarchical Real-Time Optimal Planning of Collision-Free Trajectories of Collaborative RobotsJournal of Intelligent and Robotic Systems10.1007/s10846-023-01848-9107:4Online publication date: 21-Apr-2023
https://dl.acm.org/doi/10.1007/s10846-023-01848-9
Seleem IEl-Hussieny HIshii H(2023)Imitation-based Path Planning and Nonlinear Model Predictive Control of a Multi-Section Continuum RobotsJournal of Intelligent and Robotic Systems10.1007/s10846-023-01811-8108:1Online publication date: 17-May-2023
https://dl.acm.org/doi/10.1007/s10846-023-01811-8
Show More Cited By

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Dynamic Movement Primitives: Volumetric Obstacle Avoidance Using Dynamic Potential Functions
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cover image Journal of Intelligent and Robotic Systems

Journal of Intelligent and Robotic Systems Volume 101, Issue 4

Apr 2021

316 pages

ISSN:0921-0296

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© The Author(s) 2021.

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Kluwer Academic Publishers

United States

Publication History

Published: 01 April 2021

Accepted: 08 February 2021

Received: 01 July 2020

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Cited By

Sidiropoulos ADoulgeri Z(2024)Dynamic Via-points and Improved Spatial Generalization for Online Trajectory Generation with Dynamic Movement PrimitivesJournal of Intelligent and Robotic Systems10.1007/s10846-024-02051-0110:1Online publication date: 29-Jan-2024
https://dl.acm.org/doi/10.1007/s10846-024-02051-0
Lukáš DKot T(2023)Hierarchical Real-Time Optimal Planning of Collision-Free Trajectories of Collaborative RobotsJournal of Intelligent and Robotic Systems10.1007/s10846-023-01848-9107:4Online publication date: 21-Apr-2023
https://dl.acm.org/doi/10.1007/s10846-023-01848-9
Seleem IEl-Hussieny HIshii H(2023)Imitation-based Path Planning and Nonlinear Model Predictive Control of a Multi-Section Continuum RobotsJournal of Intelligent and Robotic Systems10.1007/s10846-023-01811-8108:1Online publication date: 17-May-2023
https://dl.acm.org/doi/10.1007/s10846-023-01811-8
Ginesi MSansonetto NFiorini P(2021)Overcoming some drawbacks of Dynamic Movement PrimitivesRobotics and Autonomous Systems10.1016/j.robot.2021.103844144:COnline publication date: 1-Oct-2021
https://dl.acm.org/doi/10.1016/j.robot.2021.103844

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