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In this method we show that obstacles can be avoided by robot\u2019s end-effector by adding a set of extra constraints to the optimization problem. Finally, the performance of the designed meal assistant is evaluated in two feeding scenario experiments: one considering obstacles in the path between the bowl and the mouth and the other without.<\/jats:p>","DOI":"10.1142\/s2529737618500016","type":"journal-article","created":{"date-parts":[[2018,6,12]],"date-time":"2018-06-12T04:12:56Z","timestamp":1528776776000},"page":"1850001","source":"Crossref","is-referenced-by-count":10,"title":["A learning from demonstration framework for implementation of a feeding task"],"prefix":"10.1142","volume":"02","author":[{"given":"Nabil","family":"Ettehadi","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of Central Florida, Orlando, FL 32816 USA"}]},{"given":"Aman","family":"Behal","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of Central Florida, Orlando, FL 32816 USA"},{"name":"NanoScience Technology Center, University of Central Florida, Orlando, FL 32826 USA"}]}],"member":"219","published-online":{"date-parts":[[2018,7,2]]},"reference":[{"key":"S2529737618500016BIB003","doi-asserted-by":"crossref","first-page":"95","DOI":"10.3233\/TAD-1999-10203","volume":"10","author":"Topping M. 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