Thursday, 17th of October 2019, 12:00 – 1:00

Robot motion planning with stable dynamical systems: Incremental learning and human-aware execution

SR1, ICT Building,
Technikerstraße 21a, 6020 Innsbruck

Matteo Saveriano
Researcher at IIS/DiSC group, University of Innsbruck


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.



[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.


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