Publication

Learning to Play Mini-Golf from Human Demonstration using Autonomous Dynamical Systems

Aude Billard
2011
Posters

Abstract

We present a new formulation for autonomous (i.e. time-independent) Dynamical Systems (DS) to perform discrete robot motions with em non-zero velocity at a given target. The proposed model ensures the convergence of all trajectories to the target, and is inherently robust to perturbations. We evaluated the performance of our proposed method to control right-handed swings in mini-golf.

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Aude Billard
2011
Posters

Abstract

Official source

Related concepts (12)

Dynamical system

In mathematics, a dynamical system is a system in which a function describes the time dependence of a point in an ambient space, such as in a parametric curve. Examples include the mathematical models that describe the swinging of a clock pendulum, the flow of water in a pipe, the random motion of particles in the air, and the number of fish each springtime in a lake. The most general definition unifies several concepts in mathematics such as ordinary differential equations and ergodic theory by allowing different choices of the space and how time is measured.

Dynamical systems theory

Dynamical systems theory is an area of mathematics used to describe the behavior of complex dynamical systems, usually by employing differential equations or difference equations. When differential equations are employed, the theory is called continuous dynamical systems. From a physical point of view, continuous dynamical systems is a generalization of classical mechanics, a generalization where the equations of motion are postulated directly and are not constrained to be Euler–Lagrange equations of a least action principle.

Autonomous system (mathematics)

In mathematics, an autonomous system or autonomous differential equation is a system of ordinary differential equations which does not explicitly depend on the independent variable. When the variable is time, they are also called time-invariant systems. Many laws in physics, where the independent variable is usually assumed to be time, are expressed as autonomous systems because it is assumed the laws of nature which hold now are identical to those for any point in the past or future.

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Learning to Play Mini-Golf from Human Demonstration using Autonomous Dynamical Systems

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