@ARTICLE{f.martín2010roboticmotionusing,
TITLE = {Robotic Motion using Harmonic Functions and Finite Elements},
JOURNAL = {Journal of Intelligent and Robotic Systems.  <a href="http://dx.doi.org/10.1007/s10846-009-9381-3">http://dx.doi.org/10.1007/s10846-009-9381-3</a>},
VOLUME = {59},
NUMBER = {1},
PAGES = {57 - 74},
YEAR = {2010},
AUTHOR = {F. Martín, S. Garrido, D. Blanco, L. Moreno}
}