# Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives

## TL;DR

This paper introduces a framework enabling robots to autonomously interpret demonstrations for modifying dynamical movement primitives, allowing intuitive correction of trajectories through operator demonstrations, verified via real-time experiments.

## Contribution

It presents a novel method for automatically updating DMPs based on operator demonstrations, improving trajectory correction efficiency.

## Key findings

- Effective real-time trajectory correction demonstrated
- Framework successfully interprets operator demonstrations
- Enhanced adaptability of DMPs in robotic motion

## Abstract

The concept of dynamical movement primitives (DMPs) has become popular for modeling of motion, commonly applied to robots. This paper presents a framework that allows a robot operator to adjust DMPs in an intuitive way. Given a generated trajectory with a faulty last part, the operator can use lead-through programming to demonstrate a corrective trajectory. A modified DMP is formed, based on the first part of the faulty trajectory and the last part of the corrective one. A real-time application is presented and verified experimentally.