@inproceedings {pub2788,
	title = {Learning Force-Interaction Motor Primitives from Kinesthetic Demonstrations},
	author = {Jens Kober AND Michael Gienger AND Jochen Steil},
	year = {2015},
	abstract = {In this paper we discuss our framework for reconstructing motor primitives that were demonstrated by kinesethetic demonstrations. We focus on skills where force interactions with the environment are required. Our process covers the segmentation of the raw demonstrations, assigning control frames and modalities per primitive, as well as discovering termination criteria. The approach is evaluated on a Barrett WAM, where a box is manipulated in contact with the environment.},
	publisher = {IEEE},
	booktitle = {2015 IEEE International Conference on Robotics and Automation (ICRA)}
}