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2008

Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations

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Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations
We present a system for robust robot skill acquisition from kinesthetic demonstrations. This system allows a robot to learn a simple goal-directed gesture, and correctly reproduce it despite changes in the initial conditions, and perturbations in the environment. It combines a dynamical system control approach with tools of statistical learning theory and provides a solution to the inverse kinematics problem, when dealing with a redundant manipulator. The system is validated on two experiments involving a humanoid robot: putting an object into a box, and reaching for and grasping an object.
Micha Hersch, Florent Guenter, Sylvain Calinon, Au
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2008
Where TROB
Authors Micha Hersch, Florent Guenter, Sylvain Calinon, Aude Billard
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