A modular framework that combines Elementary Dynamic Actions and Dynamic Movement Primitives achieves task-space robot control without inverse kinematics, with stability preserved across singularities and contact.
Bellman R (1966) Dynamic programming
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Modular Robot Control with Motor Primitives
A modular framework that combines Elementary Dynamic Actions and Dynamic Movement Primitives achieves task-space robot control without inverse kinematics, with stability preserved across singularities and contact.