@conference{ManGieKobPet16,
  title = {Probabilistic Decomposition of Sequential Force Interaction Tasks into Movement Primitives},
  booktitle = { IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {3920--3927},
  publisher = {IEEE},
  month = oct,
  year = {2016},
  author = {Manschitz, S. and Gienger, M. and Kober, J. and Peters, J.},
  doi = {10.1109/IROS.2016.7759577},
  month_numeric = {10}
}