Learning Movement Primitives

@inproceedings{Schaal2003LearningMP,
  title={Learning Movement Primitives},
  author={Stefan Schaal and Jan Peters and Jun Nakanishi and Auke Jan Ijspeert},
  booktitle={ISRR},
  year={2003}
}
This paper discusses a comprehensive framework for modular motor control based on a recently developed theory of dynamic movement primitives (DMP). DMPs are a formulation of movement primitives with autonomous nonlinear differential equations, whose time evolution creates smooth kinematic control policies. Model-based control theory is used to convert the outputs of these policies into motor commands. By means of coupling terms, on-line modifications can be incorporated into the time evolution… CONTINUE READING
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