Article

Spacetime Splines for Adaptive Robot Motions

This study proposes a spline-based movement primitive representation that unifies spatial geometry and temporal progression into a common set of continuous variables, jointly estimates a shared Bezier curve, and allows spatial and temporal model complexity to be adapted independently. Simulations validated joint recovery accuracy, refinement from modifications to model complexity and continuity, and improved robustness to variance in the demonstration set. In a robot-assisted patient-turning task, online retiming and synchronization capabilities were evaluated with a physical manikin.

Part of the event: Proposing unified spatiotemporal spline modeling for robot motion

This page provides a summary and source link only.