DECEMBER 2022 * IEEE ROBOTICS & AUTOMATION MAGAZINE * 73 0.55 0.5 First Trajectory Third Trajectory 0.45 0.4 0.35 0.3 0.1 0.2 Second Trajectory 0.5 0.4 0.3 -0.1 00 0.1 X (m) (a) -0.1 X (m) (b) 0.6 0.5 0.4 0.3 -0.1 X (m) (e) 0.6 0.5 0.4 0.3 -0.1 X (m) (i) 0.6 0.5 0.4 0.3 -0.1 X (m) (m) 0.1 0.2 First Trajectory Third Trajectory 0.6 Second Trajectory 0.5 0.4 0.3 -0.1 X (m) (n) 0.1 Last Three Trajectories 0.1 0.2 First Trajectory Third Trajectory 0.6 Second Trajectory 0.5 0.4 0.3 -0.1 X (m) (j) 0.6 0.5 0.4 0.3 -0.2 -0.1 0 X (m) (o) 0.1 0.2 0.1 Last Three Trajectories 0.5 0.4 0.3 -0.1 X (m) (k) First Trajectory Third Trajectory Second Trajectory 0.6 0.5 0.4 0.3 -0.2 -0.1 0 X (m) (p) Figure 5. A simulation of trajectory adaptation in different conditions in Table 1. (a)-(d) Trajectories in the first and last three iterations that follow line segments and (9) in the DF field. (e)-(h) Trajectories in the first and last three iterations that follow line segments and (9) in the CF field. (i)-(l) Trajectories in the first and last three iterations that follow line segments and (9) in the VF field. (m)-(p) Trajectories in the first and last three iterations that follow line segments and (9) in P-DF field. 0.1 0.2 0.1 0.1 First Trajectory Third Trajectory 0.6 Second Trajectory 0.5 0.4 0.3 -0.1 X (m) (f) 0.6 0.1 Last Three Trajectories 0.5 0.4 0.3 -0.1 X (m) (g) First Trajectory Third Trajectory 0.6 Second Trajectory 0.5 0.4 0.3 -0.1 X (m) (l) Last Three Trajectories 0.1 Last Three Trajectories 0.1 0.6 Last Three Trajectories 0.5 0.4 0.3 -0.1 X (m) (c) First Trajectory Third Trajectory 0.6 Second Trajectory 0.5 0.4 0.3 -0.1 X (m) (h) 0.1 Last Three Trajectories 0.1 First Trajectory Third Trajectory Second Trajectory 0.5 0.4 0.3 -0.1 X (m) (d) 0.1 0.6 0.6 0.6 Last Three Trajectories Position-Dependent Divergent Force DF Field Velocity Dependent External Force Field Y (m) Y (m) Constant Interaction Force Field Y (m) Divergent Force Field Y (m) Y (m) Y (m) Y (m) Y (m) Y (m) Y (m) Y (m) Y (m) Y (m) Y (m) Y (m) Y (m)