Jens Kober Michael Gienger Jochen J. Steil Learning movement primitives for force interaction tasks. 3192-3199 2015 ICRA https://doi.org/10.1109/ICRA.2015.7139639 https://www.wikidata.org/entity/Q57539277 conf/icra/2015 db/conf/icra/icra2015.html#KoberGS15