Robotic systems appear in a wide varieaty of fields including manufactury, space exploration, laboratory research and surgery. The spread of robotic technology in this wide range of applications has been motivated by their capability to perform jobs more accurate, more reliable and, last but not least, the possibility of eliminating harmful task for humans. The complex environments where robotic systems are employed require them to be able to adapt an learn. To develop different motion learning strategies and evaluate them in real-world applications, a robotic testbed has been developed capable of performing dynamic maneuvers. An autonomous sytem relies to make decisions and compute new actions.