movement_primitives.dmp.CouplingTermPos1DToPos1D#

class movement_primitives.dmp.CouplingTermPos1DToPos1D(desired_distance, lf, k=1.0, c1=100.0, c2=30.0)#

Bases: object

Couples position components of a 2D DMP with a virtual spring.

For DMP and DMPWithFinalVelocity.

Parameters:

desired_distancefloat: Desired distance between components.
lfarray-like, shape (2,): Binary values that indicate which DMP(s) will be adapted. The variable lf defines the relation leader-follower. If lf[0] = lf[1], then both robots will adapt their trajectories to follow average trajectories at the defined distance dd between them [..]. On the other hand, if lf[0] = 0 and lf[1] = 1, only DMP1 will change the trajectory to match the trajectory of DMP0, again at the distance dd and again only after learning. Vice versa applies as well. Leader-follower relation can be determined by a higher-level planner [..].
kfloat, optional (default: 1): Virtual spring constant that couples the positions.
c1float, optional (default: 100): Scaling factor for spring forces in the velocity component and acceleration component.
c2float, optional (default: 30): Scaling factor for spring forces in the acceleration component.

Methods

coupling

References

[1]

Gams, A., Nemec, B., Zlajpah, L., Wächter, M., Asfour, T., Ude, A. (2013). Modulation of Motor Primitives using Force Feedback: Interaction with the Environment and Bimanual Tasks (2013), In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5629-5635). DOI: 10.1109/IROS.2013.6697172, https://h2t.anthropomatik.kit.edu/pdf/Gams2013.pdf