@inproceedings{Maedaetal2015,
  title = {A Probabilistic Framework for Semi-Autonomous Robots Based on Interaction Primitives with Phase Estimation},
  booktitle = {Proceedings of the International Symposium of Robotics Research},
  year = {2015},
  author = {Maeda, G. and Neumann, G. and Ewerton, M. and Lioutikov, R. and Peters, J.},
  url = {http://www.ausy.tu-darmstadt.de/uploads/Team/PubGJMaeda/ISRR_uploaded_20150814_small.pdf}
}