Conference paper Open Access

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

Leonidas Koutras; Zoe Doulgeri

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.

Files (703.4 kB)
Name Size
ROMAN20_0230_FI.pdf
md5:83e3d10de25fcccc94910745aa33b908
703.4 kB Download
8
6
views
downloads
All versions This version
Views 88
Downloads 66
Data volume 4.2 MB4.2 MB
Unique views 77
Unique downloads 66

Share

Cite as