A Reversible Dynamic Movement Primitive formulation

In this work, a novel Dynamic Movement Primitive (DMP) formulation is proposed which supports reversibility, i.e. backwards reproduction of a learned trajectory, while also sharing all favourable properties of classical DMP. Classical DMP have been extensively used for encoding and reproducing a desired motion pattern in several robotic applications. However, they lack reversibility, which is a useful and expedient property that can be leveraged in many scenarios. The proposed formulation is analyzed theoretically and is validated through simulations and experiments.