Learning rhythmic movements by demonstration using nonlinear oscillators

  title={Learning rhythmic movements by demonstration using nonlinear oscillators},
  author={Auke Jan Ijspeert and Jun Nakanishi and Stefan Schaal},
  journal={IEEE/RSJ International Conference on Intelligent Robots and Systems},
This paper presents a new approach to the generation of rhythmic movement patterns with nonlinear dynamical systems. Starting from a canonical limit cycle oscillator with well-defined stability properties, we modify the attractor landscape of the canonical system by means of statistical learning methods to embed arbitrary smooth target patterns, however, without losing the stability properties of the canonical system. In contrast to non-autonomous movement representations like splines, the… CONTINUE READING
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