SEDS: A Framework to Generate Stable, Adaptive, Reactive, and Human-Like Robot Reaching Motions

Publicado el 28/01/2013 This video provides a brief overview of the framework, called Stable Estimator of Dynamical Systems (SEDS), that is devised to push the level of adaptivity, reactivity, and robustness of robotic systems closer to human movements. SEDS can be seen as a universal framework to model a subclass of robot motions called "reaching movements", i.e. movements in space stopping at a given target (also referred to as episodic motions, discrete motions, or point-to-point motions). These reaching movements can then be used as building blocks to form more advanced robot tasks. To achieve a high level of proficiency as described above, SEDS particularly generates control policies that: 1) resemble human motions, 2) guarantee the accomplishment of the task (if the target is reachable), and 3) can instantly adapt to dynamically changing environments.