### Abstract

We present a system for robust robot skill acquisition from kinesthetic demonstrations. This system allows a robot to learn a simple goal-directed gesture, and correctly reproduce it despite changes in the initial conditions, and perturbations in the environment. It combines a dynamical system control approach with tools of statistical learning theory and provides a solution to the inverse kinematics problem, when dealing with a redundant manipulator. The system is validated on two experiments involving a humanoid robot: putting an object into a box, and reaching for and grasping an object.

### Bibtex reference

@article{Hersch08TRO,
author="Hersch, M. and Guenter, F. and Calinon, S. and Billard, A.",
title="Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations",
journal="{IEEE} Trans. on Robotics",
year="2008"
volume="24",
number="6",
pages="1463–-1467"
}