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Franziska Meier, Evangelos Theodorou, Freek Stulp, and Stefan Schaal. Movement Segmentation using a Primitive Library. In
International Conference on Intelligent Robots and Systems (IROS), 2011.
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[PDF]546.0kB
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Segmenting complex movements into a sequence of primitives remains a difficult problem with many applications in the robotics
and vision communities. In this work, we show how the movement segmentation problem can be reduced to a sequential movement
recognition problem. To this end, we reformulate the original Dynamic Movement Primitive (DMP) formulation as a linear dynamical
system with control inputs. Based on this new formulation, we develop an Expectation-Maximization algorithm to estimate the
duration and goal position of a partially observed trajectory. With the help of this algorithm and the assumption that a library
of movement primitives is present, we present a movement segmentation framework. We illustrate the usefulness of the new DMP
formulation on the two applications of online movement recognition and movement segmentation.
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@InProceedings{meier11movement,
title = {Movement Segmentation using a Primitive Library},
author = {Franziska Meier and Evangelos Theodorou and Freek Stulp and Stefan Schaal},
booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
year = {2011},
abstract = {Segmenting complex movements into a sequence of primitives remains a difficult problem with many applications in the robotics and vision communities. In this work, we show how the movement segmentation problem can be reduced to a sequential movement recognition problem. To this end, we reformulate the original Dynamic Movement Primitive (DMP) formulation as a linear dynamical system with control inputs. Based on this new formulation, we develop an Expectation-Maximization algorithm to estimate the duration and goal position of a partially observed trajectory. With the help of this algorithm and the assumption that a library of movement primitives is present, we present a movement segmentation framework. We illustrate the usefulness of the new DMP formulation on the two applications of online movement recognition and movement segmentation.},
bib2html_accrate = {32\%},
bib2html_pubtype = {Refereed Conference Paper},
bib2html_rescat = {Optimizing the Execution of Symbolic Robot Plans}
}
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