Robot Programming by Demonstration
Robots in Motion
Learning Non-linear Multivariate Dynamics of Motion in Robotic Manipulators.
Motion imitation requires reproduction of a dynamical signature of a movement, i.e. a robot should be able to encode and reproduce a particular path together with a specific velocity and/or an acceleration profile. The group of Prof. Aude Billard (LASA - Learning algorithms and systems Laboratory) presents an algorithm to estimate multivariate robot motions through a mixture of Gaussians. The strengths of the proposed encoding are three-fold: (i) it allows a generalization of motion to unseen context; (ii) it provides fast on-line replanning of the motion in case of of spatio-temporal perturbations; (iii) it may embed different types of dynamics, governed by different attractors.