ICRA 2011 Paper Abstract


Paper TuP209.4

Kulvicius, Tomas (Georg-August-Universität Göttingen, Bernstein Center for Computa), Ning, KeJun (University of Göttingen), Tamosiunaite, Minija (University of Goettingen), Woergoetter, Florentin (University of Goettingen, Inst. of Physics III - Biophysics)

Modified Dynamic Movement Primitives for Joining Movement Sequences

Scheduled for presentation during the Regular Sessions "Motion and Path Planning II" (TuP209), Tuesday, May 10, 2011, 16:10−16:25, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Motion and Path Planning, Learning and Adaptive Systems


The generation of complex movement patterns, in particular in cases where one needs to smoothly and accurately join trajectories, is still a difficult problem in robotics. This paper presents a novel approach for joining of several dynamic movement primitives (DMPs) based on a modification of the original formulation for DMPs. The new method produces smooth and natural transitions in position as well as velocity space. The properties of the method are demonstrated by applying it to simulated handwriting generation implemented on a robot, where an adaptive algorithm is used to learn trajectories from human demonstration. These results demonstrate that the new method is a feasible alternative for trajectory learning and generation and its accuracy and modular character has potential for various robotics applications.



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