@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} }