A tutorial on task-parameterized movement learning and retrieval

  title={A tutorial on task-parameterized movement learning and retrieval},
  author={Sylvain Calinon},
  journal={Intelligent Service Robotics},
Task-parameterized models of movements aims at automatically adapting movements to new situations encountered by a robot. The task parameters can for example take the form of positions of objects in the environment, or landmark points that the robot should pass through. This tutorial aims at reviewing existing approaches for task-adaptive motion encoding. It then narrows down the scope to the special case of task parameters that take the form of frames of reference, coordinate systems, or basis… CONTINUE READING
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