@article{gams2014,
author = {Gams, Andrej and Nemec, Bojan and Ijspeert, Auke Jan and Ude, Ale\v{s}},
title = {Coupling movement primitives : interaction with the environment and bimanual tasks},
journal = {IEEE Transactions on Robotics},
year = {2014},
volume = {30},
number = {40},
pages = {816-830},
doi = {10.1109/TRO.2014.2304775}
}