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A study case of Dynamic Motion Primitives as a motion planning method to automate the work of forestry cranes

La Hera, Pedro and Ortíz Morales, Daniel and Mendoza Trejo, Omar (2021). A study case of Dynamic Motion Primitives as a motion planning method to automate the work of forestry cranes. Computers and Electronics in Agriculture. 183 , 106037
[Research article]

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Abstract

Dynamic motion primitives (DMPs) is a motion planning method based on the concept of teaching a robot how to move based on human demonstration. To this end, DMPs use a machine learning framework that tunes stable non-linear differential equations according to data sets from demonstrated motions. Consequently, the numerical solution of these differential equations represent the desired motions. The purpose of this article is to present the steps to apply the DMPs framework and analyse its application for automating motions of forestry cranes. Our study considers an example of a forwarder crane that has been equipped with sensors to record motion data while performing standard work in the forest with expert operators. The objective of our motion planner is to automatically retract the logs back into the machine once the operator has grabbed them manually using joysticks. The results show that the final motion planner has the ability of reproducing the demonstrated action with above 95% accuracy. In addition, it has also the versatility to plan motions and perform similar action from other positions around the workspace, different than the ones used during the training stage. Thus, this initial study concludes that DMPs gives the means to develop a new generation of dynamic motion planners for forestry cranes that readily allow merging the operator?s experience in the development process.

Authors/Creators:La Hera, Pedro and Ortíz Morales, Daniel and Mendoza Trejo, Omar
Title:A study case of Dynamic Motion Primitives as a motion planning method to automate the work of forestry cranes
Series Name/Journal:Computers and Electronics in Agriculture
Year of publishing :2021
Volume:183
Article number:106037
Number of Pages:13
Publisher:ELSEVIER SCI LTD
ISSN:0168-1699
Language:English
Publication Type:Research article
Article category:Scientific peer reviewed
Version:Published version
Copyright:Creative Commons: Attribution-Noncommercial-No Derivative Works 4.0
Full Text Status:Public
Subjects:(A) Swedish standard research categories 2011 > 4 Agricultural Sciences > 401 Agricultural, Forestry and Fisheries > Forest Science
Keywords:Forestry cranes, Dynamic motion primitives, Motion planning, Motion control systems, Robotics
URN:NBN:urn:nbn:se:slu:epsilon-p-111641
Permanent URL:
http://urn.kb.se/resolve?urn=urn:nbn:se:slu:epsilon-p-111641
Additional ID:
Type of IDID
DOI10.1016/j.compag.2021.106037
Web of Science (WoS)000636104500006
ID Code:23374
Faculty:S - Faculty of Forest Sciences
Department:(S) > Department of Forest Biomaterials and Technology
Deposited By: SLUpub Connector
Deposited On:29 Apr 2021 12:03
Metadata Last Modified:29 Apr 2021 12:11

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