Publication

Movement generation using dynamical systems: a humanoid robot performing a drumming task

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat
2006
Conference Papers

Abstract

The online generation of trajectories in humanoid robots remains a difficult problem. In this contribution, we present a system that allows the superposition, and the switch between, discrete and rhythmic movements. Our approach uses nonlinear dynamical systems for generating trajectories online and in real time. Our goal is to make use of attractor properties of dynamical systems in order to provide robustness against small perturbations and to enable online modulation of the trajectories. The system is demonstrated on a humanoid robot performing a drumming task.

Official source

https://infoscience.epfl.ch/entities/publication/16b10138-7a17-49a2-9396-a903fb16d218

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Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat
2006
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/16b10138-7a17-49a2-9396-a903fb16d218

About this result

Related concepts (32)

Dynamical system

In mathematics, a dynamical system is a system in which a function describes the time dependence of a point in an ambient space, such as in a parametric curve. Examples include the mathematical models that describe the swinging of a clock pendulum, the flow of water in a pipe, the random motion of particles in the air, and the number of fish each springtime in a lake. The most general definition unifies several concepts in mathematics such as ordinary differential equations and ergodic theory by allowing different choices of the space and how time is measured.

Dynamical systems theory

Dynamical systems theory is an area of mathematics used to describe the behavior of complex dynamical systems, usually by employing differential equations or difference equations. When differential equations are employed, the theory is called continuous dynamical systems. From a physical point of view, continuous dynamical systems is a generalization of classical mechanics, a generalization where the equations of motion are postulated directly and are not constrained to be Euler–Lagrange equations of a least action principle.

Attractor

In the mathematical field of dynamical systems, an attractor is a set of states toward which a system tends to evolve, for a wide variety of starting conditions of the system. System values that get close enough to the attractor values remain close even if slightly disturbed. In finite-dimensional systems, the evolving variable may be represented algebraically as an n-dimensional vector. The attractor is a region in n-dimensional space.

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