A Reversible Dynamic Movement Primitive formulation
Antonis Sidiropoulos Zoe Doulgeri Antonis Sidiropoulos Zoe Doulgeri
In this work, a novel Dynamic Movement Primitive (DMP) formulation is proposed which supports reversibility, i.e. backwards reproduction of a learned trajectory. Apart from sharing all favourable properties of the original DMP, decoupling the teaching of position and velocity profiles and bidirectional drivability along the encoded path are also supported. Original DMP have been extensively used f...