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Combining Dynamical Systems control and programming by demonstration for teaching discrete bimanual coordination tasks to a humanoid robot

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2 Author(s)
Gribovskaya, E. ; LASA Lab., Ecole Polytech. Fed. de Lausanne (EPFL), Lausanne, Switzerland ; Billard, A.

We present a generic framework that combines Dynamical Systems movement control with Programming by Demonstration (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 satisfying the coordination constraints learned by the first 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.

Published in:

Human-Robot Interaction (HRI), 2008 3rd ACM/IEEE International Conference on

Date of Conference:

12-15 March 2008