New paper in IEEE Transactions on Robotics

Paper titled “Coupling Movement Primitives: Interaction with the Environment and Bimanual Tasks”, co-authored by our members Andrej Gams, Bojan Nemec and Aleš Ude and our collaborator Auke Ijspeert from EPFL, Lausanne, has been accepted for publications in the prime robotics journal IEEE Transactions on Robotics. In the paper we investigated the framework of Dynamic Movement Primitives, which is in its original constrained to the kinematic aspect of the movement. In the paper we bridged the gap to dynamic behaviors by extending the framework with force/torque feedback. We proposed and evaluated a modulation approach that allows interaction with objects and people collaborating with the robot.