A Reversible Dynamic Movement Primitive formulation

TL;DR

This paper introduces a reversible Dynamic Movement Primitive formulation that allows backward reproduction of learned trajectories, enhancing flexibility in robotic motion encoding.

Contribution

A novel DMP formulation supporting reversibility, decoupled teaching of position and velocity, and bidirectional path traversal, extending the capabilities of traditional DMPs.

Findings

The reversible DMP maintains all properties of the original.

Experimental validation in an assembly insertion task.

Theoretical analysis confirms the formulation's properties.

Abstract

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.