Publications de Seyed Mohammad Khansari Zadeh

Learning control Lyapunov function to ensure stability of dynamical system-based robot reaching motions

Aude Billard, Seyed Mohammad Khansari Zadeh

We consider an imitation learning approach to model robot point-to-point (also known as discrete or reaching) movements with a set of autonomous Dynamical Systems (DS). Each DS model codes a behavior (such as reaching for a cup and swinging a golf club) at ...

Elsevier2014

Learning to play minigolf: A dynamical system-based approach

Aude Billard, Seyed Mohammad Khansari Zadeh, Klas Jonas Alfred Kronander

A current trend in robotics is to define robot motions so that they can be easily adopted to situations beyond those for which the motion was originally designed. In this work, we show how the challenging task of playing minigolf can be efficiently tackled ...

Taylor & Francis Ltd2012

A Dynamical System-based Approach to Modeling Stable Robot Control Policies via Imitation Learning

Seyed Mohammad Khansari Zadeh

Despite tremendous advances in robotics, we are still amazed by the proficiency with which humans perform movements. Even new waves of robotic systems still rely heavily on hardcoded motions with a limited ability to react autonomously and robustly to a dy ...

EPFL2012

A Dynamical System Approach to Realtime Obstacle Avoidance

Aude Billard, Seyed Mohammad Khansari Zadeh

This paper presents a novel approach to real-time obstacle avoidance based on dynamical systems (DS) that ensures impenetrability of multiple convex shaped objects. The proposed method can be applied to perform obstacle avoidance in Cartesian and Joint spa ...

Springer Verlag2012

Learning Stable Non-Linear Dynamical Systems with Gaussian Mixture Models

Aude Billard, Seyed Mohammad Khansari Zadeh

This paper presents a method for learning discrete robot motions from a set of demonstrations. We model a motion as a nonlinear autonomous (i.e. time-invariant) Dynamical System (DS), and define sufficient conditions to ensure global asymptotic stability a ...

2011

Learning Nonlinear Multivariate Dynamics of Motion in Robotic Manipulators [accepted]

Aude Billard, Elena Gribovskaya, Seyed Mohammad Khansari Zadeh

Motion imitation requires reproduction of a dynamical signature of a movement, i.e. a robot should be able to encode and reproduce a particular path together with a specific velocity and/or an acceleration profile. Furthermore, a human provides only few de ...

SAGE Publications2011

Learning to Control Planar Hitting Motions in a Monigolf-like Task

Aude Billard, Seyed Mohammad Khansari Zadeh, Klas Jonas Alfred Kronander

A current trend in robotics is to define robot tasks using a combination of superimposed motion patterns. For maximum versatility of such motion patterns, they should be easily and efficiently adaptable for situations beyond those for which the motion was ...

IEEE2011

Imitation learning of Globally Stable Non-Linear Point-to-Point Robot Motions using Nonlinear Programming

Aude Billard, Seyed Mohammad Khansari Zadeh

This paper presents a method to learn arbitrary discrete motions from a set of demonstrations. We model a motion as a nonlinear autonomous (i.e. time-invariant) dynamical system, and define the sufficient conditions to make such a system globally asymptoti ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

BM: An Iterative Method to Learn Stable Non-Linear Dynamical Systems with Gaussian Mixture Models

Aude Billard, Seyed Mohammad Khansari Zadeh

We model the dynamics of non-linear discrete (i.e. point-to- point) robot motions as a time-independent system described by an autonomous dynamical system (DS). We propose an iterative algorithm to estimate the form of the DS through a mixture of Gaussian ...

2010