Geometry-aware Dynamic Movement Primitives
Fares J. Abu-Dakka,Ville Kyrki,Fares J. Abu-Dakka,Ville Kyrki
In many robot control problems, factors such as stiffness and damping matrices and manipulability ellipsoids are naturally represented as symmetric positive definite (SPD) matrices, which capture the specific geometric characteristics of those factors. Typical learned skill models such as dynamic movement primitives (DMPs) can not, however, be directly employed with quantities expressed as SPD mat...
