Gribovskaya, E.Billard, A.2007-11-142007-11-142007-11-14200810.1145/1349822.1349828https://infoscience.epfl.ch/handle/20.500.14299/14640We present a generic framework that combines Dynamical Systems movement control with Programming by Demon- stration (PbD) to teach a robot bimanual coordination task. The model consists of two systems: a learning system that processes data collected during the demonstration of the task to extract coordination constraints and a motor system that reproduces the movements dynamically, while satisfy- ing the coordination constraints learned by the ¯rst system. We validate the model through a series of experiments in which a robot is taught bimanual manipulatory tasks with the help of a human.Learning by imitationRoboticstext::conference output::conference proceedings::conference paper