Sparse Control for Dynamic Movement Primitives. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: M. Wensing, Patrick; Slotine, Jean-Jacques
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 10114
• Page End: 10121
• Publication Date: 2017-07
• Subjects: Dynamic movement primitives -- central pattern generators -- contraction analysis -- nonlinear oscillators -- legged locomotion -- networked systems; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.1789
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper describes the use of spatially-sparse inputs to influence global changes in the behavior of Dynamic Movement Primitives (DMPs). The dynamics of DMPs are analyzed through the framework of contraction theory as networked hierarchies of contracting or transversely contracting systems. Within this framework, sparsely-inhibited rhythmic DMPs (SI-RDMPs) are introduced to both inhibit or enable rhythmic primitives through spatially-sparse modification of the DMP dynamics. SI-RDMPs are demonstrated in experiments to manage start-stop transitions for walking experiments with the MIT Cheetah. New analytical results on the coupling of oscillators with diverse natural frequencies are also discussed.