Combining Movement Primitives with Contraction Theory
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866929677991411712 |
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| author | Nah, Moses C. Lachner, Johannes Hogan, Neville Slotine, Jean-Jacques |
| author_facet | Nah, Moses C. Lachner, Johannes Hogan, Neville Slotine, Jean-Jacques |
| contents | This paper presents a modular framework for motion planning using movement primitives. Central to the approach is Contraction Theory, a modular stability tool for nonlinear dynamical systems. The approach extends prior methods by achieving parallel and sequential combinations of both discrete and rhythmic movements, while enabling independent modulation of each movement. This modular framework enables a divide-and-conquer strategy to simplify the programming of complex robot motion planning. Simulation examples illustrate the flexibility and versatility of the framework, highlighting its potential to address diverse challenges in robot motion planning. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_09198 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Combining Movement Primitives with Contraction Theory Nah, Moses C. Lachner, Johannes Hogan, Neville Slotine, Jean-Jacques Robotics This paper presents a modular framework for motion planning using movement primitives. Central to the approach is Contraction Theory, a modular stability tool for nonlinear dynamical systems. The approach extends prior methods by achieving parallel and sequential combinations of both discrete and rhythmic movements, while enabling independent modulation of each movement. This modular framework enables a divide-and-conquer strategy to simplify the programming of complex robot motion planning. Simulation examples illustrate the flexibility and versatility of the framework, highlighting its potential to address diverse challenges in robot motion planning. |
| title | Combining Movement Primitives with Contraction Theory |
| topic | Robotics |
| url | https://arxiv.org/abs/2501.09198 |