Dual quaternion based dynamic movement primitives to learn industrial tasks using teleoperation
Rohit Chandra,Victor H. Giraud,Mohammad Alkhatib,Youcef Mezouar,Rohit Chandra,Victor H. Giraud,Mohammad Alkhatib,Youcef Mezouar
Dynamic movement primitives (DMPs) provide an effective method of learning manipulation skills from human demonstration. DMPs can be especially useful for imitating industrial manipulation tasks which are performed by humans and are difficult to model, for instance, deformable object manipulation. In this work the effectiveness of a conventional Cartesian space DMP is enhanced using a compact and ...
