A Modified Cartesian Space DMPs Model for Robot Motion Generation

  • Nailong LiuEmail author
  • Zhaoming Liu
  • Long Cui
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


DMPs (dynamic movement primitives) are a method to generate trajectory planning or control signal for complex robot movements. Each DMP is a nonlinear dynamical system which can be used as a primitive action for complex movements. The origin DMPs are used to model the robot joint space motion, however in many cases, robot motions are defined in Cartesian space, the model of Cartesian space is necessary. A Cartesian space DMPs variant is proposed which adds a dynamical quaternions goal subsystem to make the generated cartesian space twist more smooth and steady in the initial stage in this paper. This DMPs variant can be useful in some robot tasks which often require low speed operations, such as contact operation.


Dynamic movement primitives DMPs Robot learning Learning from demonstration 


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA)Chinese Academy of Sciences (CAS)ShenyangChina
  2. 2.Institutes for Robotics and Intelligent ManufacturingChinese Academy of Sciences (CAS)ShenyangChina
  3. 3.University of Chinese Academy of Sciences (CAS)BeijingChina

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