Motion Primitives for Robotic Flight Control

We introduce a simple framework for learning aggressive maneuvers in flight control of UAVs. Having inspired from biological environment, dynamic movement primitives are analyzed and extended using nonlinear contraction theory. Accordingly, primitives of an observed movement are stably combined and concatenated. We demonstrate our results experimentally on the Quanser Helicopter, in which we first imitate aggressive maneuvers and then use them as primitives to achieve new maneuvers that can fly over an obstacle.

• Publication year

  2006

• Venue

  arXiv.org

• Publication date

  2006-09-25

• Fields of study

  Computer Science, Engineering

• Identifiers
  arXiv cs/0609140
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• Learning for control from multiple demonstrations

  2008cited by this paper
• Aggressive landing maneuvers for unmanned aerial vehicles

  2006cited by this paper
• Maneuver-based motion planning for nonlinear systems with symmetries

  2005cited by this paper
• Combining On- and Offline Optimization Techniques for Efficient Autonomous Vehicle's Trajectory Planning

  2005cited by this paper
• Trajectory synthesis by hierarchical spatio-temporal correspondence: comparison of different methods

  2005cited by this paper
• Imitation and Social Learning in Robots, Humans and Animals: Task learning through imitation and human–robot interaction

  2005cited by this paper
• On partial contraction analysis for coupled nonlinear oscillators

  2004cited by this paper
• Design and implimentation of a supervisory safety controller for a 3DOF helicopter

  2004cited by this paper
• Task Learning Through Imitation and Human-Robot Interaction

  2004cited by this paper
• Neural primitives for motion control

  2004cited by this paper
• Generating whole body motions for a biped humanoid robot from captured human dances

  2003cited by this paper
• Hybrid architecture for full-envelope autonomous rotorcraft guidance

  2003cited by this paper
• On the Representation, Learning and Transfer of Spatio-Temporal Movement Characteristics

  2003cited by this paper
• Autonomous Helicopter Flight via Reinforcement Learning

  2003cited by this paper
• Control, Planning, Learning, and Imitation with Dynamic Movement Primitives

  2003cited by this paper
• Learning rhythmic movements by demonstration using nonlinear oscillators

  2002cited by this paper
• Learning Attractor Landscapes for Learning Motor Primitives

  2002cited by this paper
• Acquisition and embodiment of motion elements in closed mimesis loop

  2002cited by this paper
• Movement imitation with nonlinear dynamical systems in humanoid robots

  2002influential reference
• Control Logic for Automated Aerobatic Flight of a Miniature Helicopter

  2002cited by this paper
• Autonomous helicopter control using reinforcement learning policy search methods

  2001cited by this paper
• Aggressive Maneuvering of Small Autonomous Helicopters: A Human-Centered Approach

  2001cited by this paper
• (Almost) exact path tracking control for an autonomous helicopter in hover manoeuvres

  2000cited by this paper
• Motor learning through the combination of primitives.

  2000cited by this paper
• Learning human arm movements by imitation: : Evaluation of a biologically inspired connectionist architecture

  2000cited by this paper
• Biologically inspired neural controllers for motor control in a quadruped robot

  2000cited by this paper
• Control system design for rotorcraft-based unmanned aerial vehicles using time-domain system identification

  2000cited by this paper
• Robots can teach people how to move their arm

  2000cited by this paper
• Sequential Composition of Dynamically Dexterous Robot Behaviors

  1999cited by this paper
• Contraction analysis of nonlinear systems

  1999cited by this paper
• On Contraction Analysis for Non-linear Systems

  1998influential reference
• Nonlinear force fields: a distributed system of control primitives for representing and learning movements

  1997cited by this paper
• Applications of contraction analysis

  1997cited by this paper
• Robot See, Robot Do : An Overview of Robot Imitation

  1996cited by this paper
• One-Handed Juggling: A Dynamical Approach to a Rhythmic Movement Task.

  1996cited by this paper
• Learning of oculo-motor control: a prelude to robotic imitation

  1996cited by this paper
• A model of the neuro-musculo-skeletal system for human locomotion

  1995cited by this paper
• Linear combinations of primitives in vertebrate motor control.

  1994cited by this paper
• Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment

  1991cited by this paper
• Computations underlying the execution of movement: a biological perspective.

  1991cited by this paper
• Applied Nonlinear Control

  1991cited by this paper
• Motor-space coding in the central nervous system.

  1990cited by this paper
• Regulation of multi-joint arm posture and movement.

  1986cited by this paper
• Characteristics of motor programs underlying arm movements in monkeys.

  1979cited by this paper
• c ○ 2002 Kluwer Academic Publishers. Manufactured in The Netherlands. Automated Derivation of Primitives for Movement Classification

  year unknowncited by this paper
• Received (Day Month Year) Revised (Day Month Year) Accepted (Day Month Year)

  year unknowncited by this paper

• Dynamic Movement Primitives Based Robot Skills Learning

  2023influential citation
• Safe Motion Planning and Learning for Unmanned Aerial Systems

  2022influential citation
• Dynamic movement primitives in robotics: A tutorial survey

  2021cites this paper
• Trajectory Planning With Deep Reinforcement Learning in High-Level Action Spaces

  2021cites this paper
• A Novel Dual Quaternion Based Dynamic Motion Primitives for Acrobatic Flight

  2021influential citation
• Directional Primitives for Uncertainty-Aware Motion Estimation in Urban Environments

  2020cites this paper
• DMP-Based Motion Generation for a Walking Exoskeleton Robot Using Reinforcement Learning

  2020cites this paper
• Human–Robot Interaction Based on Motion and Force Control

  2019influential citation
• Convergence of Dynamical Movement Primitives with Temporal Coupling

  2018cites this paper
• A robot control architecture supported on contraction theory

  2017cites this paper
• Parametrization of robotic deburring process with motor skills from motion primitives of human skill model

  2017influential citation
• Robust human-inspired power law trajectories for humanoid HRP-2 robot

  2016cites this paper
• Sparse Control for Dynamic Movement Primitives

  2016influential citation
• A new method based on motion primitives to compute 3D path planning close to helicopters' flight dynamics limits

  2016cites this paper
• Advanced human inspired walking strategies for humanoid robots

  2016cites this paper
• Adaptive biped locomotion from a single demonstration using motion primitives

  2016cites this paper
• Generating a Style-Adaptive Trajectory from Multiple Demonstrations

  2014cites this paper
• Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors

  2013cites this paper
• Theory and Algorithms for Indirect Methods in Optimal Control of Hybrid Systems

  2012cites this paper
• A Dynamical System-based Approach to Modeling Stable Robot Control Policies via Imitation Learning

  2012cites this paper
• Joining Movement Sequences: Modified Dynamic Movement Primitives for Robotics Applications Exemplified on Handwriting

  2012influential citation
• Dynamically stable control of articulated crowds

  2012cites this paper
• Modified dynamic movement primitives for joining movement sequences

  2011cites this paper
• Trajectory planning for manipulators based on the optimal concatenation of LQ control primitives

  2011cites this paper
• Learning to pour with a robot arm combining goal and shape learning for dynamic movement primitives

  2011cites this paper
• Adaptive pitch control of a six degree-of-freedom ducted-fan aircraft

  2011cites this paper
• Simulation and animation of deformable bodies

  2008cites this paper
• The Quanser Platform for Control Systems Research Validation

  year unknowncites this paper