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Dynamic movement primitives (DMPs) are a method of trajectory control / planning from Stefan Schaal’s lab. They were presented way back in 2002 in this paper (, and then updated in 2013 by Auke Ijspeert in this paper ( This work was motivated by the desire to find a way to represent complex motor actions that can be flexibly adjusted without manual parameter tuning or having to worry about instability.

This repository is a Python implementation of DMPs, with accompanying tutorials and applications that can be found at

All that's required for the installation and running of the code is

. To run the test code you will also need
for displaying the results.

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