Demo1: Demonstration of the use of Gaussian Mixture Regression (GMR) and inverse kinematics to reproduce a task by considering constraints both in joint space and in task space. An arm of 2 links moving in 2D space is considered. Several demonstrations of a skill are provided, by starting from different initial positions. The skill consists of moving each joint sequentially and then writing the alphabet letter N at a specific position in the 2D space.

joint-task-constraints-v2.0
...........................\data
...........................\....\data1.mat
...........................\demo1.m
...........................\EM.m
...........................\EM_boundingCov.m
...........................\EM_init_kmeans.m
...........................\EM_init_regularTiming.m
...........................\gaussPDF.m
...........................\gaussProduct.m
...........................\GMR.m
...........................\plotArm.m
...........................\plotArmBasis.m
...........................\plotArmLink.m
...........................\plotGMM.m
...........................\prodQuat.m
...........................\projectGMM.m
...........................\subs_JX.m
...........................\subs_x.m

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