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@ARTICLE{7339616, 
author={Ureche, A.L.P. and Umezawa, K. and Nakamura, Y. and Billard, A.},
journal={Robotics, IEEE Transactions on},
title={Task Parameterization Using Continuous Constraints Extracted From Human Demonstrations},
year={2015},
volume={31},
number={6},
pages={1458-1471},
keywords={Adaptive systems;End effectors;Feature extraction;Human-robot interaction;Learning systems;Motion control;Constraint extraction;learning and adaptive systems;motion control;programming by demonstration (PbD)},
doi={10.1109/TRO.2015.2495003},
ISSN={1552-3098},
month={Dec},}


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