Coupled Multiple Dynamic Movement Primitives Generalization for Deformable Object Manipulation

Dynamic Movement Primitives (DMP) are widely applied in movement representation due to their ability to encode tasks using generalization properties. However, the coupled multiple DMP generalization cannot be directly solved based on the original DMP formula. Prior works provide satisfactory perform...

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Veröffentlicht in:	IEEE robotics and automation letters 2022-04, Vol.7 (2), p.5381-5388
Hauptverfasser:	Cui, Zhenxi, Ma, Wanyu, Lai, Jiewen, Chu, Henry K., Guo, Yi
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptation models Collision avoidance Couplings Deformable models Deformation Formability Manipulators Mass-spring-damper systems Robot kinematics robot trajectory planning and control Rope Soft object manipulation Solid modeling Thin films Trajectory
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