Dynamic Movement Primitives for moving goals with temporal scaling adaptation
Leonidas Koutras,Zoe Doulgeri,Leonidas Koutras,Zoe Doulgeri
In this work, we propose an augmentation to the Dynamic Movement Primitives (DMP) framework which allows the system to generalize to moving goals without the use of any known or approximation model for estimating the goal's motion. We aim to maintain the demonstrated velocity levels during the execution to the moving goal, generating motion profiles appropriate for human robot collaboration. The p...
