2025/01/15 by Moses C. Nah, Johannes Lachner, Nah, Moses C. +5
Economics, Econometrics and Finance · Social Sciences · #FOS: Computer and information sciences #Game Theory and Voting Systems #Middle East Politics and Society #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2501.09198
openalex publication_date 2025/01/15 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.