Demonstrations and reproduction of moving a chessman

A robot learns how to make a chess move from multiple demonstrations and to reproduce the skill in a new situation (different position of the chessman) by finding a controller which satisfies both the task constraints (what-to-imitate) and constraints relative to its body limitation (how-to-imitate). Reference: S. Calinon, F. Guenter, A. Billard: On earning, representing and generalizing a task in a humanoid robot, IEEE Trans. Syst. Man Cybernet. B 37(2), 286-298 (2007); URL: http://lasa.epfl.ch/videos/control.php.