Learning Robotic Cutting from Demonstration: Non-Holonomic DMPs using the Udwadia-Kalaba Method
Artūras Straižys,Michael Burke,Subramanian Ramamoorthy,Artūras Straižys,Michael Burke,Subramanian Ramamoorthy
Dynamic Movement Primitives (DMPs) offer great versatility for encoding, generating and adapting complex end-effector trajectories. DMPs are also very well suited to learning manipulation skills from human demonstration. However, the reactive nature of DMPs restricts their applicability for tool use and object manipulation tasks involving non-holonomic constraints, such as scalpel cutting or cathe...
