Paraschos, A., Rueckert, E., Peters, J., & Neumann, G. (2015). Model-Free Probabilistic Movement Primitives for Physical Interaction. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015) (pp. 2860-2866). Piscataway, NJ: IEEE. doi:10.1109/IROS.2015.7353771.