A Hybrid Joint/Cartesian DMP-Based Approach for Obstacle Avoidance of Anthropomorphic Assistive Robots

Anthropomorphic criteria are widely adopted for developing socially interactive robots since they can improve human capability to interpret and predict robot motion, with an impact on robot acceptability and human–robot interaction safety. Learning by demonstration approaches based on dynamic movement primitives are a suitable solution for planning the robot motion in human-like fashion and endow robots with generalization capabilities and...