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Development of writing task recombination technology based on DMP segmentation via verbal command for Baxter robot

Chunxu Li Orcid Logo, Chenguang Yang, Andy Annamalai, Qingsong Xu, Shaoxiang Li

Systems Science and Control Engineering, Volume: 6, Issue: 1, Pages: 350 - 359

Swansea University Author: Chunxu Li Orcid Logo

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DOI (Published version): 10.1080/21642583.2018.1509397

Abstract

This paper developed a character recombination technology based on dynamic movement primitive (DMP) segmentation using verbal command on a Baxter robot platform. Movements are recorded from a human demonstrator. The operator physically guides the Baxter robot to perform the movements for five times....

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Published in: Systems Science and Control Engineering
ISSN: 2164-2583
Published: Informa UK Limited 2018
Online Access: Check full text

URI: https://cronfa.swan.ac.uk/Record/cronfa66017
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Abstract: This paper developed a character recombination technology based on dynamic movement primitive (DMP) segmentation using verbal command on a Baxter robot platform. Movements are recorded from a human demonstrator. The operator physically guides the Baxter robot to perform the movements for five times. This training data set is also utilized for playback process. Subsequently, the dynamic time warping is employed to pre-treat the data. The DMP is used to model and generalize every single movement. Gaussian mixture model is used to generate multiple patterns after the teaching process. Then the Gaussian mixture regression algorithm is applied to reduce the position errors in 3D space after the generation of a synthesized trajectory. A remote PC is used to control the command of Baxter to record or playback any trajectories via user datagram protocol (UDP) by typing commands in a text file. In addition, Dragon NaturalSpeaking software is used to transfer the voice data to text data. This proposed approach is tested by performing a Chinese character writing task with a Baxter robot, where different Chinese characters are written by teaching only one character.
Keywords: Task recombination; segmentation; dynamic time warping; dynamic movement primitive; Gaussian mixture regression; teaching
College: Faculty of Science and Engineering
Funders: This work was partially supported by Engineering and Physical Sciences Research Council (EPSRC) under Grant EP/S001913/1 and by Royal Society under International Exchanges award IE170247.
Issue: 1
Start Page: 350
End Page: 359

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