Informatics Report Series



Related Pages

Report (by Number) Index
Report (by Date) Index
Author Index
Institute Index

Title:Constrained geodesic trajectory generation on learnt skill manifolds
Authors: Ioannis Havoutis ; Subramanian Ramamoorthy
Date: 2010
Publication Title:2010 IEES/RSJ International Conference on Intelligent Robots and Systems
Publication Type:Conference Paper Publication Status:Submitted
This paper addresses the problem of compactly encoding a continuous family of trajectories corresponding to a robotic skill, and using this representation for the purpose of constrained trajectory generation in an environment with many (possibly dynamic) obstacles. With a skill manifold that is learnt from data, we show that constraints can be naturally handled within an iterative process of minimizing the total geodesic path length and curvature over the manifold. We demonstrate the utility of this process with two examples. Firstly, a three-link arm whose joint space and corresponding skill manifold can be explicitly visualized. Then, we demonstrate how this procedure can be used to generate constrained walking motions in a humanoid robot.
2010 by The University of Edinburgh. All Rights Reserved
Links To Paper
1st Link
Bibtex format
author = { Ioannis Havoutis and Subramanian Ramamoorthy },
title = {Constrained geodesic trajectory generation on learnt skill manifolds},
book title = {2010 IEES/RSJ International Conference on Intelligent Robots and Systems},
year = 2010,
url = {},

Home : Publications : Report 

Please mail <> with any changes or corrections.
Unless explicitly stated otherwise, all material is copyright The University of Edinburgh