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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
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URI: https://cronfa.swan.ac.uk/Record/cronfa66017
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spelling v2 66017 2024-04-09 Development of writing task recombination technology based on DMP segmentation via verbal command for Baxter robot e6ed70d02c25b05ab52340312559d684 0000-0001-7851-0260 Chunxu Li Chunxu Li true false 2024-04-09 ACEM 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. Journal Article Systems Science and Control Engineering 6 1 350 359 Informa UK Limited 2164-2583 Task recombination; segmentation; dynamic time warping; dynamic movement primitive; Gaussian mixture regression; teaching 14 8 2018 2018-08-14 10.1080/21642583.2018.1509397 COLLEGE NANME Aerospace, Civil, Electrical, and Mechanical Engineering COLLEGE CODE ACEM Swansea University 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. 2024-06-27T12:46:05.7170222 2024-04-09T20:14:51.1067049 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering Chunxu Li 0000-0001-7851-0260 1 Chenguang Yang 2 Andy Annamalai 3 Qingsong Xu 4 Shaoxiang Li 5 66017__30767__a0f52d4de312427bb47e1f7b6e14ecb0.pdf 66017.VoR.pdf 2024-06-27T12:44:11.4086515 Output 2358547 application/pdf Version of Record true © 2018 The Author(s). This is an Open Access article distributed under the terms of the Creative Commons Attribution License. true eng http://creativecommons.org/licenses/by/4.0/
title Development of writing task recombination technology based on DMP segmentation via verbal command for Baxter robot
spellingShingle Development of writing task recombination technology based on DMP segmentation via verbal command for Baxter robot
Chunxu Li
title_short Development of writing task recombination technology based on DMP segmentation via verbal command for Baxter robot
title_full Development of writing task recombination technology based on DMP segmentation via verbal command for Baxter robot
title_fullStr Development of writing task recombination technology based on DMP segmentation via verbal command for Baxter robot
title_full_unstemmed Development of writing task recombination technology based on DMP segmentation via verbal command for Baxter robot
title_sort Development of writing task recombination technology based on DMP segmentation via verbal command for Baxter robot
author_id_str_mv e6ed70d02c25b05ab52340312559d684
author_id_fullname_str_mv e6ed70d02c25b05ab52340312559d684_***_Chunxu Li
author Chunxu Li
author2 Chunxu Li
Chenguang Yang
Andy Annamalai
Qingsong Xu
Shaoxiang Li
format Journal article
container_title Systems Science and Control Engineering
container_volume 6
container_issue 1
container_start_page 350
publishDate 2018
institution Swansea University
issn 2164-2583
doi_str_mv 10.1080/21642583.2018.1509397
publisher Informa UK Limited
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering
document_store_str 1
active_str 0
description 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.
published_date 2018-08-14T12:46:05Z
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score 11.012678

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