Dynamic Movement Primitives in Robotics: A Tutorial Survey

Understand

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.