A Novel Trajectory Reproduction Method: Multi Virtual Spring-Dampers

In robot learning, compliance and generalization ability are two desired properties. To get compliance and generalization ability, virtual spring damper(VSD) [1] is applied. Conventional virtual spring damper is time variant, so it is limited in many application scenarios, such as human robot interaction. In this paper, we propose a novel interaction model called multi virtual spring-dampers(MVSD), it is time invariant, and can adjust the trajectory profile similarity as well as the approaching attractor at the same time.