@article{denisa2016, author = {Deni\v{s}a, Miha and Gams, Andrej and Ude, Ale\v{s} and Petri\v{c}, Tadej}, title = {Learning compliant movement primitives through demonstration and statistical generalization}, journal = {IEEE/ASME Transactions on Mechatronics}, year = {2016}, volume = {21}, number = {5}, pages = { 2581-2594}, doi = {10.1109/TMECH.2015.2510165} }