arXiv Open Access 2025

Combining Movement Primitives with Contraction Theory

Moses C. Nah Johannes Lachner Neville Hogan Jean-Jacques Slotine

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Abstrak

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.

Topik & Kata Kunci

cs.RO

Penulis (4)

Moses C. Nah

Johannes Lachner

Neville Hogan

Jean-Jacques Slotine

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Nah, M.C., Lachner, J., Hogan, N., Slotine, J. (2025). Combining Movement Primitives with Contraction Theory. https://arxiv.org/abs/2501.09198

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Informasi Jurnal

Tahun Terbit: 2025
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓