The goal of this work is the development of a motion model for sequentially timed movement actions in robotic systems under specific consideration of temporal stabilization, that is maintaining an approximately constant overall movement time (isochronous behavior). This is demonstrated both in simulation and on a physical robotic system for the task of intercepting a moving target in three-dimensional space. Motivated from humanoid motion, timing plays a vital role to generate a naturalistic behavior in interaction with the dynamic environment as well as adaptively planning and executing action sequences on-line. In biological systems, many of the physiological and anatomical functions follow a particular level of periodicity and stabilization, which exhibit a certain extent of resilience against external disturbances. A main aspect thereof is stabilizing movement timing against limited perturbations. Especially human arm movement, namely when it is tasked to reach a certain goal point, pose or configuration, shows a stabilizing behavior. This work incorporates the utilization of an extended Kalman filter (EKF) which was implemented to predict the target position while coping with non-linear system dynamics. The periodicity and temporal stabilization in biological systems was artificially generated by a Hopf oscillator, yielding a sinusoidal velocity profile for smooth and repeatable motion.
翻译:这项工作的目标是在具体考虑到时间稳定的情况下,为机器人系统中按顺序定时的移动行动开发一个运动模型,该模型将保持一个大致稳定的整个运动时间(异地行为),这体现在模拟和物理机器人系统中,用于拦截三维空间移动目标的任务。根据人形运动,时间在产生自然行为与动态环境互动以及适应性规划和在线执行行动序列方面发挥着关键作用。在生物系统中,许多生理和解剖功能都遵循一个特定的周期和稳定水平,这种周期和稳定水平表现出一定程度的抵御外部扰动的复原力。其中的一个主要方面是稳定移动时间,防止有限的扰动。特别是人体手臂运动,即当它的任务是达到某一目标点时,即姿势或配置,显示一种稳定行为。这项工作包括利用一个扩展的Kalman过滤器(EKFF)来预测目标位置,同时应对非线系统动态。生物系统中的周期和时间稳定是由一个可移动式振动器人为地生成的周期和时间稳定度,从而产生一个可滑动的恒定速度。