Learning Dynamical System Modulation for Constrained Reaching Tasks

  title={Learning Dynamical System Modulation for Constrained Reaching Tasks},
  author={Micha Hersch and Florent Guenter and Sylvain Calinon and Aude Billard},
  journal={2006 6th IEEE-RAS International Conference on Humanoid Robots},
In this paper we combine kinesthetic demonstrations and dynamical systems to enable a humanoid robot to imitate constrained reaching gestures directed toward a target. Using a learning algorithm based on Gaussian mixture regression, the task constraints are extracted from several demonstrations. Those constraints take the form of desired velocity profiles for the end-effector and joint angle variables, with associated covariance matrices describing the variations allowed around the desired… CONTINUE READING
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