Phase-independent Dynamic Movement Primitives with applications to human–robot co-manipulation and time optimal planning

• Published in: Robotics and autonomous systems Vol. 194; p. 105120
• Main Authors: Braglia, Giovanni, Tebaldi, Davide, Biagiotti, Luigi
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.12.2025
• Subjects: Co-manipulation; Collaborative robotics; Dynamic Movement Primitives; Motion and path planning; Physical human–robot interaction; Programming by Demonstration; Collaborative robotics; Co-manipulation; Physical human–robot interaction; Motion and path planning; Programming by Demonstration; Dynamic Movement Primitives

Dynamic Movement Primitives (DMP) are an established and efficient method for encoding robotic tasks that require adaptation based on reference motions. Typically, the nominal trajectory is obtained through Programming by Demonstration (PbD), where the robot learns a task via kinesthetic guidance an...