Conference paper Open Access

A correct formulation for the Orientation Dynamic Movement Primitives for robot control in the Cartesian space

Koutras, Leonidas; Doulgeri, Zoe


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    <subfield code="a">&lt;p&gt;Dynamic movement primitives (DMP) are an efficient way for learning&lt;br&gt;
and reproducing complex robot behaviors. A singularity free DMP formulation&lt;br&gt;
for orientation in the Cartesian space is proposed by Ude et al. in 2014 and has been&lt;br&gt;
largely adopted by the research community. In this work, we demonstrate the&lt;br&gt;
undesired oscillatory behavior that may arise when controlling the robot&amp;rsquo;s orien-&lt;br&gt;
tation with this formulation, producing a motion pattern highly deviant from the&lt;br&gt;
desired and highlight its source. A correct formulation is then proposed that alle-&lt;br&gt;
viates such problems while guaranteeing generation of orientation parameters that&lt;br&gt;
lie in SO(3). We further show that all aspects and advantages of DMP including&lt;br&gt;
ease of learning, temporal and spatial scaling and the ability to include coupling&lt;br&gt;
terms are maintained in the proposed formulation. Simulations and experiments&lt;br&gt;
with robot control in SO(3) are performed to demonstrate the performance of the&lt;br&gt;
proposed formulation and compare it with the previously adopted one.&lt;/p&gt;</subfield>
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