Cartesian space DMPs with an analytically-derived coupling term that imposes non-holonomic equality constraints. More details can be found in our paper: https://arxiv.org/abs/2209.12039
Below is an example of learning scalpel cutting skills from demonstrations. The rollouts of Nonholonomic DMPs (semi-transparent blade) are guaranteed to satisfy the non-holonomic constraints, even when trained on demonstrations with constraint violations (opaque blade).
numerical_example.ipynb shows a numerical example of learning the cutting skills with synthetic pose trajectories of the scalpel.