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