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ICS, CNE, HCR Research Seminar on "Motion planning with stable dynamical systems: Incremental learning and human-aware execution"

10.12.2018


ICS, CNE, HCR Research Seminar by Dr. Matteo Savariano, German Aerospace Center (DLR) on "Motion planning with stable dynamical systems: Incremental learning and human-aware execution"

Abstract: Motion generation with stable dynamical systems (DS) is becoming a popular approach to execute point-to-point motions on real robots. Stable dynamical systems can be effectively learned from human demonstrations and are flexible enough to represent complex trajectories. Moreover, robots driven by stable DS are guaranteed to reach the desired position, and can react in real-time to external perturbations, like changes in the target position or unexpected obstacles. This talk presents some key features of motion learning and execution with stable DS with a spacial focus on human-aware motion generation and incremental learning of stable dynamical systems.

Biography: Matteo Saveriano is a postdoctoral researcher at the German Aerospace Center (DLR). He received is B.Sc. (2008) and M.Sc. (2011) in Automatic Control Engineering from Università degli Studi di Napoli “Federico II", and a Ph.D. in Robotics from the Technical University of Munich (2017). His research interests include safe human-robot interaction, representation and classification of human activities, imitation learning and motion planning with dynamical systems.

References:

[1] S. M. Khansari-Zadeh and A. Billard, “Learning control Lyapunov function to ensure stability of dynamical system-based robot reaching motions,” Robotics and Autonomous Systems, 2014.

[2] M. Saveriano, F. Hirt, and D. Lee, “Human-aware motion reshaping using dynamical systems,” Pattern Recognition Letters, 2017.

[3] M. Saveriano and D. Lee, “Incremental Skill Learning of Stable Dynamical Systems ,” IROS, 2018.

For more info please visit: http://web.ics.ei.tum.de/~ehrlich/ICS_seminar/index.htm

12 December 2018, 16:30, Karlstraße 45, 6. Floor, room 6009