Diagrammatic Teaching of Orbitally Stable Robot Motion Patterns

This paper introduces Stable Diffeomorphic Diagrammatic Teaching (SDDT), a framework that allows users to diagrammatically specify cyclic motion patterns for robots to learn and execute. SDDT models the robot's motion as an Orbitally Asymptotically Stable (O.A.S.) dynamical system and learns a diffeomorphism to morph a known stable base system to match the user's provided sketch.