Learning Robotic Cutting from Demonstration: Non-holonomic DMPs Using the Udwadia-Kalaba Method.
2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA（2023）
Key words
Cartesian space DMP formulation,closed-form expression,complex end-effector trajectories,constraint forcing term,coupling term,Dynamic Movement Primitives,efficient trajectory optimization subject,great versatility,guaranteed constraint satisfaction,human demonstration,manipulation skills,nonholonomic constraints,nonholonomic DMPs,object manipulation tasks,pre-defined set,reactive nature,robotic cutting skills,scalpel cutting,tool use,Udwadia-Kalaba method
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