FlexDMP – Extending Dynamic Movement Primitives towards Flexible Joint Robots
Arne Wahrburg Simone Guida Nima Enayati Andrea Maria Zanchettin Paolo Rocco Arne Wahrburg Simone Guida Nima Enayati Andrea Maria Zanchettin Paolo Rocco
Dynamic Movement Primitives (DMPs) are a well-known tool for encoding robotic motions. Their popularity stems from invariance properties in time and space, the ability to describe complex coordinated motions in multiple degrees of freedom with a relatively small number of parameters, and the linearity in the parameters that describe the motion. The latter allows easily fitting a DMP to motions e.g...