  In this work, a novel Dynamic Movement Primitive (DMP) formulation is
proposed which supports reversibility, i.e. backwards reproduction of a learned
trajectory. Apart from sharing all favourable properties of the original DMP,
decoupling the teaching of position and velocity profiles and bidirectional
drivability along the encoded path are also supported. Original 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 its practical usefulness is
showcased in an assembly by insertion experimental scenario.
