Locally active globally stable dynamical systems: Theory, learning, and experiments

State-dependent dynamical systems (DSs) offer adaptivity, reactivity, and robustness to perturbations in motion planning and physical human–robot interaction tasks. Learning DS-based motion plans from non-linear reference trajectories is an active research area in robotics. Most approaches focus on...

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Veröffentlicht in:	The International journal of robotics research 2022-03, Vol.41 (3), p.312-347
Hauptverfasser:	Figueroa, Nadia, Billard, Aude
Format:	Artikel
Sprache:	eng
Schlagworte:	Convergence Dynamical systems Gaussian process Human motion Humanoid Machine learning Motion planning Optimization Perturbation Probabilistic models Robot dynamics Robotics Robots Stiffness Trajectories
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