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Dynamic movement primitives based cloud robotic skill learning for point and non-point obstacle avoidance

Zhenyu Lu (Bristol Robotics Laboratory, Bristol, UK)
Ning Wang (Bristol Robotics Laboratory, Bristol, UK)

Assembly Automation

ISSN: 0144-5154

Article publication date: 19 March 2021

Issue publication date: 22 July 2021




Dynamic movement primitives (DMPs) is a general robotic skill learning from demonstration method, but it is usually used for single robotic manipulation. For cloud-based robotic skill learning, the authors consider trajectories/skills changed by the environment, rebuild the DMPs model and propose a new DMPs-based skill learning framework removing the influence of the changing environment.


The authors proposed methods for two obstacle avoidance scenes: point obstacle and non-point obstacle. For the case with point obstacles, an accelerating term is added to the original DMPs function. The unknown parameters in this term are estimated by interactive identification and fitting step of the forcing function. Then a pure skill despising the influence of obstacles is achieved. Using identified parameters, the skill can be applied to new tasks with obstacles. For the non-point obstacle case, a space matching method is proposed by building a matching function from the universal space without obstacle to the space condensed by obstacles. Then the original trajectory will change along with transformation of the space to get a general trajectory for the new environment.


The proposed two methods are certified by two experiments, one of which is taken based on Omni joystick to record operator’s manipulation motions. Results show that the learned skills allow robots to execute tasks such as autonomous assembling in a new environment.


This is a new innovation for DMPs-based cloud robotic skill learning from multi-scene tasks and generalizing new skills following the changes of the environment.



Lu, Z. and Wang, N. (2021), "Dynamic movement primitives based cloud robotic skill learning for point and non-point obstacle avoidance", Assembly Automation, Vol. 41 No. 3, pp. 302-311.



Emerald Publishing Limited

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