Dynamical System has been widely used for encoding trajectories from human demonstration, which has the inherent adaptability to dynamically changing environments and robustness to perturbations. In this paper we propose a framework to learn a dynamical system that couples position and orientation based on a diffeomorphism. Different from other methods, it can realise the synchronization between positon and orientation during the whole trajectory. Online grasping experiments are carried out to prove its effectiveness and online adaptability.
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