Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Robots in a human environment need to be compliant. This compliance requires that a preplanned movement can be adapted to an obstacle that may be moving or appearing unexpectedly. Here,  present a general framework for movement generation and mid-flight adaptation to obstacles. For robust motion generation, Ijspeert et al developed the framework of dynamic movement primitives which represent a demonstrated movement with a set of differential equations. These equations allow adding a perturbing force without sacrificing stability of the desired movement.  extend this framework such that arbitrary movements in end-effector space can be represented - which was not possible before. Furthermore,  include obstacle avoidance by adding to the equations of motion a repellent force - a gradient of a potential field centered around the obstacle. In addition, this article compares different potential fields and shows how to avoid obstacle-link collisions within this framework.  demonstrate the abilities of our approach in simulations and with an anthropomorphic robot arm.
['Dae-Hyung Park', 'Heiko Hoffmann', 'Peter Pastor', 'Stefan Schaal']
I am writing a research paper on a idea Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields
[{"from": "human", "value": "I am writing a research paper on a idea Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Robots in a human environment need to be compliant. This compliance requires that a preplanned movement can be adapted to an obstacle that may be moving or appearing unexpectedly. Here,  present a general framework for movement generation and mid-flight adaptation to obstacles. For robust motion generation, Ijspeert et al developed the framework of dynamic movement primitives which represent a demonstrated movement with a set of differential equations. These equations allow adding a perturbing force without sacrificing stability of the desired movement.  extend this framework such that arbitrary movements in end-effector space can be represented - which was not possible before. Furthermore,  include obstacle avoidance by adding to the equations of motion a repellent force - a gradient of a potential field centered around the obstacle. In addition, this article compares different potential fields and shows how to avoid obstacle-link collisions within this framework.  demonstrate the abilities of our approach in simulations and with an anthropomorphic robot arm."}]