  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.
