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A novel DMP formulation for global and frame independent spatial scaling in the task space

Authors: Leonidas Koutras; Zoe Doulgeri;

A novel DMP formulation for global and frame independent spatial scaling in the task space

Abstract

In this work we study the DMP spatial scaling in the Cartesian space. The DMP framework is claimed to have the ability to generalize learnt trajectories to new initial and goal positions, maintaining the desired kinematic pattern. However we show that the existing formulations present problems in trajectory spatial scaling when used in the Cartesian space for a wide variety of tasks and examine their cause. We then propose a novel formulation alleviating these problems. Trajectory generalization analysis, is performed by deriving the trajectory tracking dynamics. The proposed formulation is compared with the existing ones through simulations and experiments on a KUKA LWR 4+ robot.

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
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