FlexDMP – Extending Dynamic Movement Primitives towards Flexible Joint Robots
Arne Wahrburg,Simone Guida,Nima Enayati,Andrea Maria Zanchettin,Paolo Rocco,Arne Wahrburg,Simone Guida,Nima Enayati,Andrea Maria Zanchettin,Paolo Rocco
Dynamic Movement Primitives (DMPs) are a well-known tool for encoding robotic motions. Their popularity stems from invariance properties in time and space, the ability to describe complex coordinated motions in multiple degrees of freedom with a relatively small number of parameters, and the linearity in the parameters that describe the motion. The latter allows easily fitting a DMP to motions e.g...
