@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}
}