Dynamic Movement Primitives in Robotics: A Tutorial Survey

by   Matteo Saveriano, et al.

Biological systems, including human beings, have the innate ability to perform complex tasks in versatile and agile manner. Researchers in sensorimotor control have tried to understand and formally define this innate property. The idea, supported by several experimental findings, that biological systems are able to combine and adapt basic units of motion into complex tasks finally lead 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 inspired researchers in different robotic fields including imitation and reinforcement learning, optimal control,physical interaction, and human-robot co-working, resulting a considerable amount of published papers. The goal of this tutorial survey is two-fold. On one side, we present the existing DMPs formulations in rigorous mathematical terms,and discuss advantages and limitations of each approach as well as practical implementation details. In the tutorial vein, we also search for existing implementations of presented approaches and release several others. On the other side, we provide a systematic and comprehensive review of existing literature and categorize state of the art work on DMP. The paper concludes with a discussion on the limitations of DMPs and an outline of possible research directions.


page 5

page 18

page 23

page 24

page 25

page 26

page 27


Neural Dynamic Movement Primitives – a survey

One of the most important challenges in robotics is producing accurate t...

Merging Position and Orientation Motion Primitives

In this paper, we focus on generating complex robotic trajectories by me...

Constrained Dynamic Movement Primitives for Safe Learning of Motor Skills

Dynamic movement primitives are widely used for learning skills which ca...

Safe Adaptive Switching among Dynamical Movement Primitives: Application to 3D Limit-Cycle Walkers

Complex motions for robots are frequently generated by switching among a...

Autonomous learning and chaining of motor primitives using the Free Energy Principle

In this article, we apply the Free-Energy Principle to the question of m...

Temporally Coupled Dynamical Movement Primitives in Cartesian Space

Control of robot orientation in Cartesian space implicates some difficul...

Enhancing human bodies with extra robotic arms and fingers: The Neural Resource Allocation Problem

The emergence of robot-based body augmentation promises exciting innovat...

Please sign up or login with your details

Forgot password? Click here to reset