Dynamical System has been widely used for encoding trajectories from human demonstration, which has the inherent adaptability to dynamically changing environments and robustness to perturbations. In this paper we propose a framework to learn a dynamical system that couples position and orientation based on a diffeomorphism. Different from other methods, it can realise the synchronization between positon and orientation during the whole trajectory. Online grasping experiments are carried out to prove its effectiveness and online adaptability.
@article{arxiv.2108.06728,
title = {Learning Dynamical System for Grasping Motion},
author = {Xiao Gao and Miao Li and Xiaohui Xiao},
journal= {arXiv preprint arXiv:2108.06728},
year = {2021}
}
Comments
IEEE ICRA 2021 Workshop on Bridging the Gap between Data-driven and Analytical Physics-based Grasping and Manipulation II