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author = {Calinon, S. and Billard, A.},
title = {A Probabilistic Programming by Demonstration Framework Handling Constraints in Joint Space and Task Space},
howpublished = {Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), 2008},
year = {2008},
abstract = {We present a probabilistic architecture for solving generically the problem of extracting the task constraints through a Programming by Demonstration (PbD) framework and for generalizing the acquired knowledge to various situations. We propose an approach based on Gaussian Mixture Regression (GMR) to find automatically a controller for the robot reproducing the essential characteristics of the skill by handling simultaneously constraints in joint space and in task space. Experiments with two 5-DOFs Katana robots are then presented with two manipulation tasks consisting of handling and displacing a set of objects.},

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