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.
Hersch-TRO2008.pdf
openaccess
4.36 MB
Adobe PDF
2d222ba13740bf20f36cc5c6e614701b