TR2023-121

Constrained Dynamic Movement Primitives for Collision Avoidance in Novel Environments


    •  Shaw, S., Jha, D.K., Raghunathan, A., Corcodel, R., Romeres, D., Konidaris, G., Nikovski, D., "Constrained Dynamic Movement Primitives for Collision Avoidance in Novel Environments", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2023.
      BibTeX TR2023-121 PDF Video
      • @inproceedings{Shaw2023sep,
      • author = {Shaw, Seiji and Jha, Devesh K. and Raghunathan, Arvind and Corcodel, Radu and Romeres, Diego and Konidaris, George and Nikovski, Daniel},
      • title = {Constrained Dynamic Movement Primitives for Collision Avoidance in Novel Environments},
      • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      • year = 2023,
      • month = sep,
      • url = {https://www.merl.com/publications/TR2023-121}
      • }
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  • Research Area:

    Robotics

Abstract:

Dynamic movement primitives are widely used for learning skills that can be demonstrated to a robot by a skilled human or controller. While their generalization capabilities and simple formulation make them very appealing to use, they possess no strong guarantees to satisfy operational safety constraints for a task. We present constrained dynamic movement primitives (CDMPs), which can allow for positional constraint satisfaction in the robot workspace. Our method solves a non-linear optimization to perturb an existing DMP’s forcing weights to admit a Zeroing Barrier Function (ZBF), which certifies positional workspace constraint satisfaction. We demonstrate our approach under different positional constraints on the end-effector movement on multiple physical robots, such as obstacle avoidance and workspace limitations.

 

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