Göttsch, PatrickPatrickGöttschOlschewski, RobinRobinOlschewskiWerner, HerbertHerbertWerner2019-09-042019-09-042017-10-18IFAC-PapersOnLine 50 (1) 11459–11464 (2017)http://hdl.handle.net/11420/3277Control Lyapunov Function - Dynamic Movement is a recently proposed imitation learning approach for controlling point-to-point movements. In this work some practical issues arising with this approach have been investigated by studying a particular application: robotic handwriting of German letters. One difficulty in this context is the handling of crossings. Here a novel segmentation scheme is proposed to eliminate crossings. Using a segmentation framework for splitting up the movement into a number of partial movements has additional advantages: It reduces the computational time for calculating the dynamic system that is required in this approach, as well as the time for calculating a Lyapunov function because of the simpler parametrization. This proposed segmentation scheme has been validated experimentally on a CRS A465 robotic manipulator.en2405-8963201711145911464Elsevierhttps://creativecommons.org/licenses/by-nc-nd/4.0/Autonomous robotic systemsLyapunov methodsRobotics technologyRobots manipulatorsTechnikConference Paper10.15480/882.341610.1016/j.ifacol.2017.08.181810.15480/882.3416Conference Paper