A novel framework for generalizing dynamic movement primitives under kinematic constraints

• Published in: Autonomous robots Vol. 47; no. 1; pp. 37 - 50
• Main Authors: Sidiropoulos, Antonis, Papageorgiou, Dimitrios, Doulgeri, Zoe
• Format: Journal Article
• Language: English
• Published: New York Springer US 2023; Springer Nature B.V
• Subjects: Artificial Intelligence; Barriers; Computer Imaging; Constraint modelling; Control; Design optimization; Engineering; Kinematics; Mechatronics; Optimization; Pattern Recognition and Graphics; Robotics; Robotics and Automation; Robots; Trajectories; Velocity; Vision; Dynamic movement primitives; Constrained motion generation; Online trajectory adaptation; Constrained optimization

In this work, we propose a novel framework for generalizing a desired trajectory pattern, encoded using Dynamic Movement Primitives (DMP), subject to kinematic constraints. DMP have been extensively used in robotics for encoding and reproducing kinematic behaviours, thanks to their generalization, s...