FLEXIBLE TRAJECTORY GENERATION TO EXTEND HUMAN-ROBOT INTERACTION WITH DYNAMIC ENVIRONMENT ADAPTATION

A voltage reference generator (200) generates a temperature compensated voltage at an output (202). The voltage reference generator includes a first transistor (204) and a second transistor (206) series connected between a supply voltage and the output. The first transistor and the second transistor establishing the temperature compensated voltage in response to a bias current (IBIAS) and a first bias voltage and a second bias voltage. The voltage reference generator further includes a current source (208) coupled to the first transistor and the second transistor to establish the bias current in the first transistor and the second transistor. The current source produces the first bias voltage and the second bias voltage.