{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,17]],"date-time":"2026-07-17T15:30:40Z","timestamp":1784302240268,"version":"3.55.0"},"reference-count":34,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2023,12,7]],"date-time":"2023-12-07T00:00:00Z","timestamp":1701907200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Italian Ministry of Education, Universities and Research (Miur) with the project FUTURE AI RESEARCH (FAIR) CUP","award":["C53C22000800006"],"award-info":[{"award-number":["C53C22000800006"]}]},{"name":"PON \u201cRicerca e Innovazione\u201d","award":["C53C22000800006"],"award-info":[{"award-number":["C53C22000800006"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This work proposes a Learning by Demonstration framework based on Dynamic Movement Primitives (DMPs) that could be effectively adopted to plan complex activities in robotics such as the ones to be performed in agricultural domains and avoid orientation discontinuity during motion learning. The approach resorts to Lie theory and integrates into the DMP equations the exponential and logarithmic map, which converts any element of the Lie group SO(3) into an element of the tangent space so(3) and vice versa. Moreover, it includes a dynamic parameterization for the tangent space elements to manage the discontinuity of the logarithmic map. The proposed approach was tested on the Tiago robot during the fulfillment of four agricultural activities, such as digging, seeding, irrigation and harvesting. The obtained results were compared to the one achieved by using the original formulation of the DMPs and demonstrated the high capability of the proposed method to manage orientation discontinuity (the success rate was 100 % for all the tested poses).<\/jats:p>","DOI":"10.3390\/robotics12060166","type":"journal-article","created":{"date-parts":[[2023,12,7]],"date-time":"2023-12-07T03:35:31Z","timestamp":1701920131000},"page":"166","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Robot Learning by Demonstration with Dynamic Parameterization of the Orientation: An Application to Agricultural Activities"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0760-642X","authenticated-orcid":false,"given":"Clemente","family":"Lauretti","sequence":"first","affiliation":[{"name":"Unit of Advanced Robotics and Human-Centred Technologies Universit\u00e0 Campus Bio-Medico, Via Alvaro del Portillo, 21, 00128 Rome, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6238-2241","authenticated-orcid":false,"given":"Christian","family":"Tamantini","sequence":"additional","affiliation":[{"name":"Unit of Advanced Robotics and Human-Centred Technologies Universit\u00e0 Campus Bio-Medico, Via Alvaro del Portillo, 21, 00128 Rome, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hilario","family":"Tom\u00e8","sequence":"additional","affiliation":[{"name":"Keybotic, Llacuna 162, 08018 Barcelona, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8015-010X","authenticated-orcid":false,"given":"Loredana","family":"Zollo","sequence":"additional","affiliation":[{"name":"Unit of Advanced Robotics and Human-Centred Technologies Universit\u00e0 Campus Bio-Medico, Via Alvaro del Portillo, 21, 00128 Rome, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,12,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"271","DOI":"10.1007\/s41748-021-00209-6","article-title":"The impact of population growth on natural resources and farmers\u2019 capacity to adapt to climate change in low-income countries","volume":"5","author":"Maja","year":"2021","journal-title":"Earth Syst. 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