The experiment consists of learning and reproducing the motion of hitting a ball with a table tennis racket by using a Barrett WAM 7 DOFs robotic arm. One objective is to demonstrate that such movements can be transferred using the proposed approach, where the skill requires that the target be reached with a given velocity, direction and amplitude.

This experiment aims at demonstrating that the framework can be used in an unsupervised learning manner, i.e. where several movements can be encoded in a single HMM, without specifying a priori the number of movements, and without having to associate the different motions with a class or label.