Preprint
Sep 2026
Task aware Dynamic Movement Primitives for failure detection and recovery in contact rich manipulation
Assembly remains a challenging robotic manipulation task in presence of tight tolerances and complex contact interactions. While Learning from Demonstration (LfD) frameworks like Dynamic Movement Primitives (DMPs) can effectively encode trajectories from a single demonstration, they are highly sensitive to variations i...
A. Bhavnashri, Sobia Shafi, Krishnapuram Himavarshini et al.
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