A Reversible Dynamic Movement Primitive formulation

In this work, a novel Dynamic Movement Primitive (DMP) formulation is proposed which supports reversibility, i.e. backwards reproduction of a learned trajectory. Apart from sharing all favourable properties of the original DMP, decoupling the teaching of position and velocity profiles and bidirectio...

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Bibliographic Details
Published in2021 IEEE International Conference on Robotics and Automation (ICRA) pp. 3147 - 3153
Main Authors Sidiropoulos, Antonis, Doulgeri, Zoe
Format Conference Proceeding
LanguageEnglish
Published IEEE 30.05.2021
Subjects
Asymptotic stability
Automation
Conferences
Dynamics
Education
Encoding
Trajectory
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Summary:In this work, a novel Dynamic Movement Primitive (DMP) formulation is proposed which supports reversibility, i.e. backwards reproduction of a learned trajectory. Apart from sharing all favourable properties of the original DMP, decoupling the teaching of position and velocity profiles and bidirectional drivability along the encoded path are also supported. Original DMP have been extensively used for encoding and reproducing a desired motion pattern in several robotic applications. However, they lack reversibility, which is a useful and expedient property that can be leveraged in many scenarios. The proposed formulation is analyzed theoretically and its practical usefulness is showcased in an assembly by insertion experimental scenario.
ISSN:2577-087X
DOI:10.1109/ICRA48506.2021.9562059