{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T12:06:19Z","timestamp":1772798779172,"version":"3.50.1"},"reference-count":25,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2022,10,10]],"date-time":"2022-10-10T00:00:00Z","timestamp":1665360000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2022,10,10]],"date-time":"2022-10-10T00:00:00Z","timestamp":1665360000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100006470","name":"Aristotle University of Thessaloniki","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100006470","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2023,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In this work, we propose a novel framework for generalizing a desired trajectory pattern, encoded using Dynamic Movement Primitives (DMP), subject to kinematic constraints. DMP have been extensively used in robotics for encoding and reproducing kinematic behaviours, thanks to their generalization, stability and robustness properties. However, incorporating kinematic constraints has not yet been fully addressed. To this end, we design an optimization framework, based on the DMP formulation from our previous work, for generalizing trajectory patterns, encoded with DMP subject to kinematic constraints, considering also time-varying target and time duration, via-point and obstacle constraints. Simulations highlight these properties and comparisons are drawn with other approaches for enforcing constraints on DMP. The usefulness and applicability of the proposed framework is showcased in experimental scenarios, including a handover, where the target and time duration vary, and placing scenarios, where obstacles are dynamically introduced in the scene.\n<\/jats:p>","DOI":"10.1007\/s10514-022-10067-4","type":"journal-article","created":{"date-parts":[[2022,10,10]],"date-time":"2022-10-10T11:51:55Z","timestamp":1665402715000},"page":"37-50","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["A novel framework for generalizing dynamic movement primitives under kinematic constraints"],"prefix":"10.1007","volume":"47","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6089-5980","authenticated-orcid":false,"given":"Antonis","family":"Sidiropoulos","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0361-8757","authenticated-orcid":false,"given":"Dimitrios","family":"Papageorgiou","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2188-9358","authenticated-orcid":false,"given":"Zoe","family":"Doulgeri","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,10,10]]},"reference":[{"key":"10067_CR1","doi-asserted-by":"publisher","unstructured":"Ben Amor, H., Neumann, G., Kamthe, S., Kroemer, O., Peters, J. (2014). Interaction primitives for human-robot cooperation tasks. In 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 2831\u20132837 https:\/\/doi.org\/10.1109\/ICRA.2014.6907265","DOI":"10.1109\/ICRA.2014.6907265"},{"key":"10067_CR2","doi-asserted-by":"publisher","unstructured":"Billard, A., Calinon, S., Dillmann, R., Schaal, S. (2008). In textitSiciliano, B., Khatib, O. (eds.) Robot Programming by Demonstration, pp. 1371\u20131394. Springer. https:\/\/doi.org\/10.1007\/978-3-540-30301-5_60","DOI":"10.1007\/978-3-540-30301-5_60"},{"issue":"1","key":"10067_CR3","doi-asserted-by":"publisher","first-page":"19","DOI":"10.1017\/S0263574717000133","volume":"36","author":"G Buizza Avanzini","year":"2018","unstructured":"Buizza Avanzini, G., Zanchettin, A. M., & Rocco, P. (2018). Constrained model predictive control for mobile robotic manipulators. Robotica, 36(1), 19\u201338. https:\/\/doi.org\/10.1017\/S0263574717000133.","journal-title":"Robotica"},{"key":"10067_CR4","doi-asserted-by":"publisher","unstructured":"Cardoso, C., Jamone, L., Bernardino, A. (2015) A novel approach to dynamic movement imitation based on quadratic programming. In 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 906\u2013911 . https:\/\/doi.org\/10.1109\/ICRA.2015.7139285","DOI":"10.1109\/ICRA.2015.7139285"},{"issue":"2","key":"10067_CR5","doi-asserted-by":"publisher","first-page":"438","DOI":"10.1109\/LCSYS.2019.2946761","volume":"4","author":"A Dahlin","year":"2020","unstructured":"Dahlin, A., & Karayiannidis, Y. (2020). Adaptive trajectory generation under velocity constraints using dynamical movement primitives. IEEE Control Systems Letters, 4(2), 438\u2013443. https:\/\/doi.org\/10.1109\/LCSYS.2019.2946761.","journal-title":"IEEE Control Systems Letters"},{"key":"10067_CR6","doi-asserted-by":"publisher","unstructured":"Duan, A., Camoriano, R., Ferigo, D., Calandriello, D., Rosasco, L., Pucci, D. (2018). Constrained dmps for feasible skill learning on humanoid robots. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), pp. 1\u20136 https:\/\/doi.org\/10.1109\/HUMANOIDS.2018.8624934","DOI":"10.1109\/HUMANOIDS.2018.8624934"},{"key":"10067_CR7","doi-asserted-by":"publisher","unstructured":"Frank, F., Paraschos, A., & vander Smagt, P., Cseke, B. (2021). Constrained probabilistic movement primitives for robot trajectory adaptation. IEEE Transactions on Robotics. https:\/\/doi.org\/10.1109\/TRO.2021.3127108.","DOI":"10.1109\/TRO.2021.3127108"},{"key":"10067_CR8","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/s10514-009-9118-y","volume":"27","author":"A Gams","year":"2009","unstructured":"Gams, A., Ijspeert, A. J., Schaal, S., & Lenarcic, J. (2009). On-line learning and modulation of periodic movements with nonlinear dynamical systems. Autonomous Robots, 27, 3\u201323. https:\/\/doi.org\/10.1007\/s10514-009-9118-y.","journal-title":"Autonomous Robots"},{"key":"10067_CR9","doi-asserted-by":"crossref","unstructured":"Hoffmann, H., Pastor, P., Park, D., Schaal, S. (2009). Biologically-inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance. In 2009 IEEE International Conference on Robotics and Automation, pp. 2587\u20132592.","DOI":"10.1109\/ROBOT.2009.5152423"},{"issue":"2","key":"10067_CR10","doi-asserted-by":"publisher","first-page":"328","DOI":"10.1162\/NECO_a_00393","volume":"25","author":"AJ Ijspeert","year":"2013","unstructured":"Ijspeert, A. J., Nakanishi, J., Hoffmann, H., Pastor, P., & Schaal, S. (2013). Dynamical movement primitives: Learning attractor models for motor behaviors. Neural Computation, 25(2), 328\u2013373.","journal-title":"Neural Computation"},{"key":"10067_CR11","doi-asserted-by":"publisher","unstructured":"Kastritsi, T., Papageorgiou, D., Sarantopoulos, I., Doulgeri, Z., Rovithakis, G.A. (2019). Stability of active constraints enforcement in sensitive regions defined by point-clouds for robotic surgical procedures. In 2019 18th European Control Conference (ECC), pp. 1604\u20131609 https:\/\/doi.org\/10.23919\/ECC.2019.8796278","DOI":"10.23919\/ECC.2019.8796278"},{"key":"10067_CR12","doi-asserted-by":"publisher","unstructured":"Kober, J., M\u00fclling, K., Kr\u00f6mer, O., Lampert, C.H., Sch\u00f6lkopf, B., Peters, J. (2010). Movement templates for learning of hitting and batting. In 2010 IEEE International Conference on Robotics and Automation pp. 853\u2013858 https:\/\/doi.org\/10.1109\/ROBOT.2010.5509672","DOI":"10.1109\/ROBOT.2010.5509672"},{"key":"10067_CR13","doi-asserted-by":"publisher","unstructured":"Koutras, L., Doulgeri, Z. (2020). A novel dmp formulation for global and frame independent spatial scaling in the task space. In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), pp. 727\u2013732 . https:\/\/doi.org\/10.1109\/RO-MAN47096.2020.9223500","DOI":"10.1109\/RO-MAN47096.2020.9223500"},{"issue":"1","key":"10067_CR14","doi-asserted-by":"publisher","first-page":"17","DOI":"10.1007\/s10846-014-0100-3","volume":"77","author":"R Krug","year":"2015","unstructured":"Krug, R., & Dimitrov, D. (2015). Model predictive motion control based on generalized dynamical movement primitives. Journal of Intelligent & Robotic Systems, 77(1), 17\u201335. https:\/\/doi.org\/10.1007\/s10846-014-0100-3.","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"10067_CR15","doi-asserted-by":"publisher","unstructured":"Liang, Y., Li, W., Wang, Y., Xiong, R., Mao, Y., Zhang, J. (2021). Dynamic movement primitive based motion retargeting for dual-arm sign language motions. In 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 8195\u20138201 https:\/\/doi.org\/10.1109\/ICRA48506.2021.9561120","DOI":"10.1109\/ICRA48506.2021.9561120"},{"key":"10067_CR16","doi-asserted-by":"crossref","unstructured":"Maeda, G., Ewerton, M., Lioutikov, R., Amor, H.B., Peters, J., Neumann, G. (2014). Learning interaction for collaborative tasks with probabilistic movement primitives. In 2014 IEEE-RAS International Conference on Humanoid Robots, pp. 527\u2013534.","DOI":"10.1109\/HUMANOIDS.2014.7041413"},{"key":"10067_CR17","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2021.102223","volume":"73","author":"K Merckaert","year":"2022","unstructured":"Merckaert, K., Convens, B., Wu, C.-J., Roncone, A., Nicotra, M. M., & Vanderborght, B. (2022). Real-time motion control of robotic manipulators for safe human-robot coexistence. Robotics and Computer-Integrated Manufacturing, 73, 102223. https:\/\/doi.org\/10.1016\/j.rcim.2021.102223.","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"10067_CR18","doi-asserted-by":"publisher","unstructured":"Mghames, S., Hanheide, M., Ghalamzan, E. A.(2020). Interactive movement primitives: Planning to push occluding pieces for fruit picking. In 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2616\u20132623 https:\/\/doi.org\/10.1109\/IROS45743.2020.9341728","DOI":"10.1109\/IROS45743.2020.9341728"},{"issue":"3","key":"10067_CR19","doi-asserted-by":"publisher","first-page":"263","DOI":"10.1177\/0278364912472380","volume":"32","author":"K M\u00fclling","year":"2013","unstructured":"M\u00fclling, K., Kober, J., Kroemer, O., & Peters, J. (2013). Learning to select and generalize striking movements in robot table tennis. The International Journal of Robotics Research, 32(3), 263\u2013279. https:\/\/doi.org\/10.1177\/0278364912472380.","journal-title":"The International Journal of Robotics Research"},{"key":"10067_CR20","doi-asserted-by":"publisher","unstructured":"Papageorgiou, D., Doulgeri, Z. (2020). Learning by demonstration for constrained tasks. In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), pp. 1088\u20131093 https:\/\/doi.org\/10.1109\/RO-MAN47096.2020.9223579","DOI":"10.1109\/RO-MAN47096.2020.9223579"},{"issue":"3","key":"10067_CR21","doi-asserted-by":"publisher","first-page":"529","DOI":"10.1007\/s10514-017-9648-7","volume":"42","author":"A Paraschos","year":"2018","unstructured":"Paraschos, A., Daniel, C., Peters, J., & Neumann, G. (2018). Using probabilistic movement primitives in robotics. Autonomous Robots, 42(3), 529\u2013551. https:\/\/doi.org\/10.1007\/s10514-017-9648-7.","journal-title":"Autonomous Robots"},{"key":"10067_CR22","doi-asserted-by":"publisher","unstructured":"Sidiropoulos, A., Doulgeri, Z. (2021). A reversible dynamic movement primitive formulation. In 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 3147\u20133153 https:\/\/doi.org\/10.1109\/ICRA48506.2021.9562059","DOI":"10.1109\/ICRA48506.2021.9562059"},{"issue":"4","key":"10067_CR23","doi-asserted-by":"publisher","first-page":"637","DOI":"10.1007\/s12532-020-00179-2","volume":"12","author":"B Stellato","year":"2020","unstructured":"Stellato, B., Banjac, G., Goulart, P., Bemporad, A., & Boyd, S. (2020). OSQP: An operator splitting solver for quadratic programs. Mathematical Programming Computation, 12(4), 637\u2013672. https:\/\/doi.org\/10.1007\/s12532-020-00179-2.","journal-title":"Mathematical Programming Computation"},{"key":"10067_CR24","doi-asserted-by":"publisher","unstructured":"Wang, J., Olson, E. (2016). AprilTag 2: Efficient and robust fiducial detection. In 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4193\u20134198. IEEE, https:\/\/doi.org\/10.1109\/IROS.2016.7759617","DOI":"10.1109\/IROS.2016.7759617"},{"key":"10067_CR25","doi-asserted-by":"crossref","unstructured":"Wen, Y., R. Pagilla, P. (2021). Path-constrained optimal trajectory planning for robot manipulators with obstacle avoidance. In 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (Accepted).","DOI":"10.1109\/IROS51168.2021.9636674"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-022-10067-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10514-022-10067-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-022-10067-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,2,6]],"date-time":"2023-02-06T08:13:56Z","timestamp":1675671236000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10514-022-10067-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10,10]]},"references-count":25,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2023,1]]}},"alternative-id":["10067"],"URL":"https:\/\/doi.org\/10.1007\/s10514-022-10067-4","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,10,10]]},"assertion":[{"value":"14 December 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 September 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 October 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 February 2023","order":4,"name":"change_date","label":"Change Date","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"Update","order":5,"name":"change_type","label":"Change Type","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"Missing Open Access funding information has been added in the Funding Note.","order":6,"name":"change_details","label":"Change Details","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"No funding was received for conducting this work and there isn\u2019t any kind of conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}