This is a very simple implementation of dynamic movement primitives (DMP) in Python. The main purpose of this implementation for me is to understand the behavior of DMPs.
If you need a more robust, fast, and versatile implementation, take a look at movement_primitives.
An illustrative notebook can be found here.
The papers that I used to implement DMPs are
- P. Pastor, H. Hoffmann, T. Asfour, S. Schaal: Learning and Generalization of Motor Skills by Learning from Demonstration PDF
- A.J. Ijspeert, J. Nakanishi, H. Hoffmann, P. Pastor, S. Schaal: Dynamical movement primitives: learning attractor models for motor behaviors
Travis DeWolf published some interesting articles about DMPs in his blog: