Merging position and orientation motion primitives

Matteo Saveriano, Felix Franzel, Dongheui Lee

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

43 Scopus citations


In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time series of positions and orientations ending at a desired target. Hence, we first discuss the generation of converging pose trajectories via dynamical systems, providing a rigorous stability analysis. Then, we present approaches to merge motion primitives which represent both the position and the orientation part of the motion. Developed approaches preserve the shape of each learned movement and allow for continuous transitions among succeeding motion primitives. Presented methodologies are theoretically described and experimentally evaluated, showing that it is possible to generate a smooth pose trajectory out of multiple motion primitives.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9781538660263
StatePublished - May 2019
Externally publishedYes
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 20 May 201924 May 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Conference2019 International Conference on Robotics and Automation, ICRA 2019


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