DMPs can encode control policies for discrete point-to-point movements. They permit the modulation of different properties of the encoded trajectories. The goal of this paper is to evaluate the application of DMPs to solve assembly tasks like peg-in-hole. In this context, DMPs need to be combined with force-torque feedback control. We propose a scheme that combines hybrid trajectory and force control for the hole searching behaviour and stiffness control with DMPs for the insertion task. The proposed approach has been evaluated experimentally on Kuka lightweight robot arm.
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