论文标题
可逆的动态运动原始配方
A Reversible Dynamic Movement Primitive formulation
论文作者
论文摘要
在这项工作中，提出了一种新型的动态运动原始（DMP）公式，以支持可逆性，即向后再现学习轨迹。除了共享原始DMP的所有有利属性外，还支持沿编码路径的位置和速度概况的教学以及双向驱动性。原始DMP已被广泛用于编码和再现几种机器人应用中所需的运动模式。但是，它们缺乏可逆性，这是在许多情况下可以利用的有用且方便的财产。理论上分析了所提出的公式，并通过插入实验场景在组装中展示其实际实用性。
In this work, a novel Dynamic Movement Primitive (DMP) formulation is proposed which supports reversibility, i.e. backwards reproduction of a learned trajectory. Apart from sharing all favourable properties of the original DMP, decoupling the teaching of position and velocity profiles and bidirectional drivability along the encoded path are also supported. Original DMP have been extensively used for encoding and reproducing a desired motion pattern in several robotic applications. However, they lack reversibility, which is a useful and expedient property that can be leveraged in many scenarios. The proposed formulation is analyzed theoretically and its practical usefulness is showcased in an assembly by insertion experimental scenario.
