...Yonghua Huang; Tuanjie Li; Yuming Ning; Yan Zhang Purpose This paper aims to solve the problem of the inability to apply learning methods for robot motion skills based on dynamic movement primitives (DMPs) in tasks with explicit environmental constraints, while ensuring the reliability...

.../methodology/approach A fuzzy version of dynamic movement primitive (DMP) framework is proposed as a real-time trajectory generator with imbedded velocity scaling capability. Time constant of the DMP system is determined by a fuzzy system which makes decisions based on the distance from obstacle...