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abstract = {In this paper, we consider a novel approach to control
the timing of motions when these are encoded with
autonomous dynamical systems(DS). Accurate timing of
motion is crucial if a robot must synchronize its
movement with that of a fast moving object. In previous
work of ours [1], we developed an approach to encode
robot motion into DS. Such a timeindependent encoding is
advantageous in that it offers robustness against violent
perturbation by adapting on the fly the trajectory while
ensuring high accuracy at the target. We propose here an
extension of the system that allows to control the timing
of the motion while still benefitting from all the
robustness properties deriving from the time-independent
encoding of the DS. We validate the approach in
experiments where the iCub robot learns from human
demonstrations to catch a ball on the fly.},
affiliation = {EPFL},
author = {Kim, Seungsu and Gribovskaya, Elena and Billard, Aude},
booktitle = {10{t}h {IEEE}-{RAS} {I}nternational {C}onference on {H}umanoid {R}obots},
details = {http://infoscience.epfl.ch/record/149425},
documenturl = {http://infoscience.epfl.ch/record/149425/files/Humanoids2010_ready.pdf},
keywords = {machine learning},
location = {Nashville, TN, USA},
oai-id = {oai:infoscience.epfl.ch:149425},
oai-set = {conf; fulltext-public; fulltext},
review = {REVIEWED},
status = {ACCEPTED},
submitter = {185243; 185243; 185243},
title = {Learning {M}otion {D}ynamics to {C}atch a {M}oving {O}bject},
unit = {LASA},
year = 2010

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