Low-Harmonic Rational Bézier and Spline Curves for Joint Trajectory Synthesis with Actuator Dynamics Response Limitations

Qiaode Jeffrey Ge, J. Rastegar. Low-Harmonic Rational Bézier and Spline Curves for Joint Trajectory Synthesis with Actuator Dynamics Response Limitations. In ICRA. pages 2433-2438, 1995.

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