Hersch, M.Guenter, F.Calinon, S.Billard, A.2008-02-272008-02-272008-02-27200810.1109/TRO.2008.2006703https://infoscience.epfl.ch/handle/20.500.14299/19484WOS:000262220900020We 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.Robot Programming by DemonstrationDynamical SystemControlGaussian Mixture Regressiontext::journal::journal article::research article