Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations
Authors:
- 17 November 2008
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics
- Vol. 24 (6) , 1463-1467
Abstract
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.Keywords
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