Combining dynamical systems control and programmingby demonstration for teaching discrete bimanual coordination tasks to a humanoid robot.
Elena GribovskayaAude BillardPublished in: HRI (2008)
Keyphrases
- humanoid robot
- dynamical systems
- control theory
- manipulation tasks
- biologically inspired
- motion planning
- multi modal
- real robot
- differential equations
- joint space
- motion capture
- control system
- imitation learning
- motor control
- nonlinear dynamics
- human robot interaction
- nonlinear dynamical systems
- robotic systems
- dynamic systems
- control law
- human motion
- state space
- difference equations
- reinforcement learning methods
- multi agent systems
- phase space
- robot control
- partially observable
- optimal control
- multi agent
- human operators
- autonomous robots
- sensory motor
- markov decision processes
- path planning
- motor learning
- agent environment
- predictive state representations