Dynamic Via-points and Improved Spatial Generalization for Online Trajectory Generation with Dynamic Movement Primitives

• Published in: Journal of intelligent & robotic systems Vol. 110; no. 1; p. 24
• Main Authors: Sidiropoulos, Antonis, Doulgeri, Zoe
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.03.2024; Springer Nature B.V
• Subjects: Adaptation; Artificial Intelligence; Control; Electrical Engineering; Engineering; Incorporation; Kinematics; Mechanical Engineering; Mechatronics; Regular Paper; Robotics; Robots; Simulation; Trajectories; Dynamic movement primitives; Trajectory generation; Programming by demonstration; Via-points

Dynamic Movement Primitives (DMP) have found remarkable applicability and success in various robotic tasks, which can be mainly attributed to their generalization, modulation and robustness properties. However, the spatial generalization of DMP can be problematic in some cases, leading to excessive...