Constrained Dynamic Movement Primitives for Collision Avoidance in Novel Environments
Seiji Shaw,Devesh K. Jha,Arvind U. Raghunathan,Radu Corcodel,Diego Romeres,George Konidaris,Daniel Nikovski,Seiji Shaw,Devesh K. Jha,Arvind U. Raghunathan,Radu Corcodel,Diego Romeres,George Konidaris,Daniel Nikovski
Dynamic movement primitives are widely used for learning skills that can be demonstrated to a robot by a skilled human or controller. While their generalization capabilities and simple formulation make them very appealing to use, they possess no strong guarantees to satisfy operational safety constraints for a task. We present constrained dynamic movement primitives (CDMPs), which can allow for po...
