The way a trajectory is encoded may allows easier modulation of the trajectory in order to perform a given task the way it should be performed. Optimizing the parameters of the encoding allows a better approximation of the trajectory. This is important when performing one trajectory or when generalizing from a library of trajectories. The paper received the »best scientific paper« award at RAAD 2010 conference.
COBISS.SI-ID: 23770151
Control of periodic tasks can be performed by repeating a single period of movement. This period has to be extracted from the demonstrated movement, which demands extracting the frequency and the waveform of the movement. The proposed method simplifies extracting the basic frequency of the task, which allows an analysis of the periodic movement. The method also allows sinchronization to an external signal, which allows control of tasks that require synchronization.
COBISS.SI-ID: 23732519