@InProceedings{Erdogan2011c,
	booktitle = {IEEE World Haptics Conference (WHC 2011)},
	author = {Ahmetcan Erdogan and Volkan Patoglu},
	title = {Online Generation of Velocity Fields for Passive Contour Following},
	year = {2011},
	abstract = {A new approach to online generation of velocity fields for parametric curves is presented for implementation in passive velocity field controllers that enable human-in-the-loop contour following tasks. A feedback stabilized closest point tracking algorithm is utilized for real-time determination of the contour error and online construction of the velocity field. The algorithm augments the system dynamics with a new state, and implements a uniformly asymptotically stable controller to update this new state to continual track the closest point to the robot end-effector. Applicability and effectiveness of the approach have been demonstrated through simulations and experiments. }
}

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