Dynamic movement primitives in robotics: A tutorial survey

Biological systems, including human beings, have the innate ability to perform complex tasks in a versatile and agile manner. Researchers in sensorimotor control have aimed to comprehend and formally define this innate characteristic. The idea, supported by several experimental findings, that biological systems are able to combine and adapt basic units of motion into complex tasks finally leads to the formulation of the motor primitives’ theory. In this respect, Dynamic Movement Primitives (DMPs) represent an elegant mathematical formulation of the motor primitives as stable dynamical systems and are well suited to generate motor commands for artificial systems like robots. In the last decades, DMPs have…

• I
  Innovationsfonden
• EC
  European Commission

  Awards: 101070596, NextGenerationEU project iNest (ECS 00000043)
• A
  Aalto-Yliopisto
• UI
  Universität Innsbruck
• C
  CHIST-ERA