Incremental Building of a Polyhedral Feature Model for Programming by Human Demonstration of Force-Controlled Tasks.

Peter Slaets Tine Lefebvre Johan Rutgeerts Herman Bruyninckx Joris De Schutter Incremental Building of a Polyhedral Feature Model for Programming by Human Demonstration of Force-Controlled Tasks. 20-33 2007 23 IEEE Transactions on Robotics 1 http://dx.doi.org/10.1109/TRO.2006.886830 db/journals/trob/trob23.html#SlaetsLRBS07