From dynamic movement primitives to associative skill memories

  title={From dynamic movement primitives to associative skill memories},
  author={Peter Pastor and Mrinal Kalakrishnan and Franziska Meier and Freek Stulp and Jonas Buchli and Evangelos Theodorou and Stefan Schaal},
  journal={Robotics and Autonomous Systems},
In recent years, research on movement primitives has gained increasing popularity. The original goals of movement primitives are based on the desire to have a sufficiently rich and abstract representation for movement generation, which allows for efficient teaching, trial-and-error learning, and generalization of motor skills (Schaal 1999). Thus,motor skills in robots should be acquired in a natural dialogwith humans, e.g., by imitation learning and shaping, while skill refinement and… CONTINUE READING
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