@inproceedings{92ae7856b35b4b61956989a7aee8ce14,
title = "Laplacian trajectory vector fields for robotic movement imitation and adaption",
abstract = "Vector field methods for trajectory following are generally computed offline before execution and thus only applicable to static trajectories. In contrast this paper introduces Laplacian trajectory vector fields (LTVF) as a computationally efficient method for creating convergent vector fields towards a discretized reference trajectory. In case of environmental changes both the vector field and the reference trajectory can be quickly recomputed. The conducted experiment uses a HRP-4 robot in order to display the applicability to daily life problems.",
keywords = "Manipulators, Trajectory, Vector fields",
author = "Thomas Nierhoff and Sandra Hirche and Yoshihiko Nakamura",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2014.; 20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014 ; Conference date: 23-06-2014 Through 26-06-2014",
year = "2014",
doi = "10.1007/978-3-319-07058-2\_24",
language = "English",
series = "Mechanisms and Machine Science",
publisher = "Kluwer Academic Publishers",
pages = "205--213",
editor = "Glazunov, \{Victor A.\} and Marco Ceccarelli",
booktitle = "Advances on Theory and Practice of Robots and Manipulators - Proceedings of ROMANSY 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators",
}