ias_bibliography.bib

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@article{vukobratovic2004zero,
  title={Zero-moment point—thirty five years of its life},
  author={Vukobratovi{\'c}, M. and Borovac, B.},
  journal={International Journal of Humanoid Robotics},
  volume={1},
  number={01},
  pages={157--173},
  year={2004},
  publisher={World Scientific}
}

@article{Orin2013,
	Added-At = {2013-07-15T00:00:00.000+0200},
	Author = {Orin, D. E. and Goswami, A. and Lee, S.-H.},
	Journal = {Autonomous Robots},
	Number = {2-3},
	Pages = {161--176},
	doi = {10.1007/s10514-013-9341-4},
	Title = {Centroidal dynamics of a humanoid robot},
	Volume = 35,
	Year = 2013
}

@article{babivc2014effects,
	Author = {Babi{\v{c}}, J. and Petri{\v{c}}, T. and Peternel, L. and {\v{S}}arabon, N.},
	Journal = {Gait \& posture},
	Number = {3},
	Pages = {441--446},
	Publisher = {Elsevier},
	Title = {Effects of supportive hand contact on reactive postural control during support perturbations},
	Volume = {40},
	Year = {2014}}

@article{noriFrontiers2015,
	Abstract = {This paper details the implementation of state-of-the-art whole-body control algorithms on the humanoid robot iCub. We regulate the forces between the robot and its surrounding environment to stabilize a desired posture. We assume that the forces and torques are exerted on rigid contacts. The validity of this assumption is guaranteed by constraining the contact forces and torques, e.g., the contact forces must belong to the associated friction cones. The implementation of this control strategy requires the estimation of both joint torques and external forces acting on the robot. We then detail algorithms to obtain these estimates when using a robot with an iCub-like sensor set, i.e., distributed six-axis force-torque sensors and whole-body tactile sensors. A general theory for identifying the robot inertial parameters is also presented. From an actuation standpoint, we show how to implement a joint-torque control in the case of DC brushless motors. In addition, the coupling mechanism of the iCub torso is investigated. The soundness of the entire control architecture is validated in a real scenario involving the robot iCub balancing and making contact with both arms.},
	Author = {Nori, F. and Traversaro, S. and Eljaik, J. and Romano, F. and Del Prete, A. and Pucci, D.},
	Doi = {10.3389/frobt.2015.00006},
	Issn = {2296-9144},
	Journal = {Frontiers in Robotics and AI},
	Number = {6},
	Title = {i{C}ub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts},
	Url = {http://www.frontiersin.org/humanoid_robotics/10.3389/frobt.2015.00006/abstract},
	Volume = {2},
	Year = {2015}
}
	
@inproceedings{Merlhiot2012,
	Author = {Merlhiot, X. and Le Garrec, J. and Saupin, G. and Andriot, C.},
	Booktitle = {Proceedings of the 2nd Joint International Conference on Multibody System Dynamics},
	Title = {The XDE mechanical kernel: Efficient and robust simulation of multibody dynamics with intermittent nonsmooth contacts},
	Year = {2012}}

@inproceedings{lober-HUMANOIDS2014,
	Address = {Madrid, Spain},
	Author = {Lober, R. and Padois, V. and Sigaud, O.},
	Booktitle = {Proceedings of the IEEE-RAS International Conference on Humanoid Robots },
	Doi = {10.1109/HUMANOIDS.2014.7041359},
	Http = {http://hal.archives-ouvertes.fr/hal-01116139/en},
	Month = Nov,
	Pages = {193--198},
	Title = {Multiple Task Optimization using Dynamical Movement Primitives for Whole-Body Reactive Control},
	Year = {2014}
	}

@inproceedings{liu_ICRA2015,
	Author = {Liu, M. and Hak, S. and Padois, V.},
	Booktitle = {Proceedings of the  IEEE International Conference on Robotics and Automation},
	Http = {http://hal.archives-ouvertes.fr/hal-01116410/en},
	Title = {Generalized Projector for Task Priority Transitions During Hierarchical Control},
	Year = {2015}}

@inproceedings{Salini-2011-ID348,
	Author = {Salini, J. and Padois, V. and Bidaud, P.},
	Booktitle = {Proceedings of the IEEE International Conference Robotics and Automation},
	Pages = {1283--1290},
	Title = {Synthesis of complex humanoid whole-body behavior: A focus on sequencing and tasks transitions},
	Year = {2011}}

@article{DelPrete-2014-ID267,
	Author = {Del Prete, A. and Nori, F. and Metta, G. and Natale, L.},
	Journal = {Robotics and Autonomous Systems},
	Month = {Jan},
	Pages = {150--157},
	Title = {Prioritized motion-force control of constrained fully-actuated robots:``Task Space Inverse Dynamics''},
	Volume = {63},
	Year = {2015}}

@inproceedings{Albertoetal14,
	Author = {Alberto, N. T. and Mistry, M. and Stulp, F.},
	Booktitle = {Proceedings of the IEEE International Conference on Humanoid Robots},
	Title = {Computed Torque Control with Variable Gains through Gaussian Process Regression},
	Year = {2014}}

@inproceedings{Rueckert_2015,
	Address = {Seattle, USA},
	Author = {Rueckert, E. and Mundo, J. and Paraschos, A. and Peters, J. and Neumann, G.},
	Booktitle = {Proceedings of the International Conference on Robotics and Automation },
	Journal = {ICRA},
	Month = {May},
	Pages = {1--9},
	Title = {Extracting Low-Dimensional Control Variables for Movement Primitives},
	Year = {2015}}

@inproceedings{Rueckert2014,
	Address = {Madrid, Spain},
	Author = {Rueckert, E. and Mindt, M. and Peters, J. and Neumann, G.},
	Booktitle = {Proceedings of the International Conference on Humanoid Robots },
	Title = {Robust Policy Updates for Stochastic Optimal Control},
	Url = {http://www.ias.informatik.tu-darmstadt.de/uploads/Site/EditPublication/AICOHumanoidsFinal.pdf},
	Year = {2014},
	Bdsk-Url-1 = {http://www.ias.informatik.tu-darmstadt.de/uploads/Site/EditPublication/AICOHumanoidsFinal.pdf}}

@inproceedings{Paraschos2013,
	Author = {Paraschos, A. and Daniel, C. and Peters, J. and Neumann, G},
	Booktitle = {Advances in Neural Information Processing Systems (NIPS), Cambridge, MA: MIT Press.},
	Date-Added = {2015-05-12 11:01:50 +0000},
	Date-Modified = {2015-05-12 11:01:50 +0000},
	Title = {Probabilistic Movement Primitives},
	Url = {http://www.ias.tu-darmstadt.de/uploads/Publications/Paraschos_NIPS_2013.pdf},
	Year = {2013},
	Bdsk-Url-1 = {http://www.ias.tu-darmstadt.de/uploads/Publications/Paraschos_NIPS_2013.pdf}}

@inproceedings{Paraschos2013a,
	Author = {Paraschos, A. and Neumann, G and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Humanoid Robots },
	Date-Added = {2015-05-12 11:01:50 +0000},
	Date-Modified = {2015-05-12 11:01:50 +0000},
	Title = {A Probabilistic Approach to Robot Trajectory Generation},
	Url = {http://www.ias.tu-darmstadt.de/uploads/Publications/Paraschos_Humanoids_2013.pdf},
	Year = {2013},
	Bdsk-Url-1 = {http://www.ias.tu-darmstadt.de/uploads/Publications/Paraschos_Humanoids_2013.pdf}}

@inproceedings{loberIROS2015,
	Address = {Hamburg, Germany},
	Author = {Lober, R. and Padois, V. and Sigaud, O.},
	Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Date-Added = {2015-05-12 11:01:39 +0000},
	Date-Modified = {2015-05-12 11:01:39 +0000},
	Month = Sep,
	Title = {Variance Modulated Task Prioritization in Whole-Body Control},
	Year = {2015},
	pages = {3944-3949},
	doi = {10.1109/IROS.2015.7353932}
	}

@inproceedings{Gazebo,
	Author = {Koenig, Nathan and Howard, Andrew},
	Booktitle = {Intelligent Robots and Systems, 2004.(IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on},
	Date-Added = {2015-05-11 16:18:06 +0000},
	Date-Modified = {2015-05-12 11:06:18 +0000},
	Organization = {IEEE},
	Pages = {2149--2154},
	Title = {Design and use paradigms for gazebo, an open-source multi-robot simulator},
	Volume = {3},
	Year = {2004}}

@article{Azevedo2007,
	Abstract = {This review is the result of a joint reflection carried out by researchers in the fields of robotics and automatic control on the one hand and neuroscience on the other, both trying to answer the same question: what are the functional bases of bipedal locomotion and how can they be controlled? The originality of this work is to synthesize the two approaches in order to take advantage of the knowledge concerning the adaptability and reactivity performances of humans and of the rich tools and formal concepts available in biped robotics. Indeed, we claim that the theoretical framework of robotics can enhance our understanding of human postural control by formally expressing the experimental concepts used in neuroscience. Conversely, biological knowledge of human posture and gait can inspire biped robot design and control. Therefore, both neuroscientists and roboticists should find useful information in this paper.},
	Author = {Azevedo, Christine and Espiau, Bernard and Amblard, Bernard and Assaiante, Christine},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	Doi = {10.1007/s00422-006-0118-0},
	File = {:home/jan/Dropbox/papers//Azevedo et al. - 2007 - Bipedal locomotion toward unified concepts in robotics and neuroscience.pdf:pdf},
	Issn = {0340-1200},
	Journal = {Biological cybernetics},
	Keywords = {Cybernetics,Humans,Locomotion,Locomotion: physiology,Models,Neurological,Neurosciences,Posture,Robotics},
	Month = mar,
	Number = {2},
	Pages = {209--28},
	Pmid = {17139512},
	Title = {{Bipedal locomotion: toward unified concepts in robotics and neuroscience.}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/17139512},
	Volume = {96},
	Year = {2007},
	Bdsk-Url-1 = {http://www.ncbi.nlm.nih.gov/pubmed/17139512},
	Bdsk-Url-2 = {http://dx.doi.org/10.1007/s00422-006-0118-0}}


@article{Bateni2005,
	Abstract = {OBJECTIVES: To provide information on the advantages and possible disadvantages of using canes and walkers. DATA SOURCES: English-language articles were identified by searching MEDLINE and PubMed (1966-May 2003) for key words cane or walker , excluding articles unrelated to mobility aids. Bibliographies were reviewed and ISI Web of Science citation searches were run to identify additional references. Over 1000 articles were selected for further evaluation. STUDY SELECTION: We extracted all studies of single-tip canes or pickup walkers addressing: (1) functional, biomechanic, or neuromotor benefits; (2) biomechanic, attentional, neuromotor, metabolic, or physiologic demands; and (3) falls, injuries, or other problems. We included approximately 10\% of the articles originally identified. DATA EXTRACTION: The methodology of each selected article, and findings relevant to the benefits, demands, or adverse effects of cane or walker use were summarized. DATA SYNTHESIS: Findings were synthesized by considering their relation to basic biomechanic principles. Some biomechanic findings appear to support the clinical view that canes and walkers can improve balance and mobility for older adults and people with other clinical conditions. However, a large proportion of users experience difficulties, and the use of such devices is associated with increased risk of falling. A small number of studies have characterized some of the specific demands and problems associated with using mobility aids. CONCLUSIONS: Clinical and biomechanic evaluations of canes and walkers confirm that these devices can improve balance and mobility. However, they can also interfere with ones ability to maintain balance in certain situations, and the strength and metabolic demands can be excessive. More research is needed to identify and solve specific problems. Such research may lead to improved designs and guidelines for safer use of canes and walkers.},
	Author = {Bateni, Hamid and Maki, Brian E.},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	Doi = {10.1016/j.apmr.2004.04.023},
	File = {:home/jan/Dropbox/papers/Bateni, Maki - 2005 - Assistive devices for balance and mobility benefits, demands, and adverse consequences.pdf:pdf},
	Issn = {0003-9993},
	Journal = {Archives of physical medicine and rehabilitation},
	Keywords = {80 and over,Adolescent,Adult,Aged,Biomechanics,Canes,Canes: adverse effects,Female,Humans,Male,Middle Aged,Postural Balance,Postural Balance: physiology,Risk Assessment,Walkers,Walkers: adverse effects,Walking,Walking: physiology},
	Month = jan,
	Number = {1},
	Pages = {134--45},
	Pmid = {15641004},
	Title = {{Assistive devices for balance and mobility: benefits, demands, and adverse consequences.}},
	Url = {http://linkinghub.elsevier.com/retrieve/pii/S0003999304004745 http://www.ncbi.nlm.nih.gov/pubmed/15641004},
	Volume = {86},
	Year = {2005},
	Bdsk-Url-1 = {http://linkinghub.elsevier.com/retrieve/pii/S0003999304004745%20http://www.ncbi.nlm.nih.gov/pubmed/15641004},
	Bdsk-Url-2 = {http://dx.doi.org/10.1016/j.apmr.2004.04.023}}

@article{Corbeil2013,
	Abstract = {Perturbation of whole-body stability often evokes rapid arm reactions. It has been suggested that the earliest arm activation is a generic (e.g. startle-like) response to which a later stabilizing (e.g. counterweight or reach-to-grasp) or impact-protection component can be appended. To examine whether the initial part of the reaction is generic, we examined arm reactions evoked by small balance perturbations in 12 healthy young adults while varying perturbation direction (rightward or forward platform translation) and environmental conditions (handrail present or absent). The perturbation magnitude was selected to be sufficiently small to obviate the need to use the arms for stabilization. To avoid adaptation or habituation, analysis focused on each subject's very first exposure to the perturbation. Most subjects exhibited active movement of both arms in reaction to the perturbation, but there was large (non-stereotypical) inter-subject variation in muscle-onset latency and arm kinematics. Furthermore, the velocity and direction of the initial arm movement were affected by perturbation direction, in a manner consistent with functional strategies (counterweight strategy in backward falls, hybrid counterweight/protective strategy in leftward falls). Although subjects never contacted the handrail, responses were slower when it was present. These results are not consistent with a generic stereotyped response, but suggest instead that even the earliest component of first-trial arm reactions was functionally modulated.},
	Author = {Corbeil, Philippe and Bloem, Bastiaan R and van Meel, Marloes and Maki, Brian E},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	Doi = {10.1016/j.gaitpost.2012.07.017},
	File = {:home/jan/Dropbox/papers/Corbeil et al. - 2013 - Arm reactions evoked by the initial exposure to a small balance perturbation a pilot study.pdf:pdf},
	Issn = {1879-2219},
	Journal = {Gait \& posture},
	Keywords = {Adult,Analysis of Variance,Arm,Arm: physiology,Biomechanical Phenomena,Electromyography,Environment,Female,Humans,Male,Pilot Projects,Postural Balance,Postural Balance: physiology,Psychomotor Performance,Psychomotor Performance: physiology,Reaction Time,Reaction Time: physiology,Startle Reaction,Startle Reaction: physiology,Video Recording},
	Month = feb,
	Number = {2},
	Pages = {300--3},
	Pmid = {22925376},
	Title = {{Arm reactions evoked by the initial exposure to a small balance perturbation: a pilot study.}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/22925376},
	Volume = {37},
	Year = {2013},
	Bdsk-Url-1 = {http://www.ncbi.nlm.nih.gov/pubmed/22925376},
	Bdsk-Url-2 = {http://dx.doi.org/10.1016/j.gaitpost.2012.07.017}}

@article{Dimitrova2004,
	Abstract = {The postural adaptation impairments of patients with Parkinson's disease (PD) suggest that the basal ganglia may be important for quickly modifying muscle activation patterns when the direction of perturbation or stance conditions suddenly change. It is unknown whether their particular instability to backward postural perturbations is due to specific abnormalities of parkinsonian postural muscle synergies in that direction and not present in other directions. In the present study, we test this hypothesis by comparing the patterns of leg and trunk muscle activation in 13 subjects with PD and 13 control subjects in response to eight randomly presented directions of horizontal surface translations while standing with either narrow or wide stance. The direction of maximum activation for each muscle was similar for PD and control subjects, suggesting that the basal ganglia is not critical for programming externally triggered postural synergies. However, antagonist muscle activation was earlier and larger in PD than in control subjects, resulting in coactivation. PD subjects also did not increase the magnitude of muscle activation as much as did control subjects when changing from wide to narrow stance. These results are consistent with the hypothesis that PD results in an inability to shape the pattern and magnitude of postural muscle responses for changes in perturbation direction and in stance position.},
	Author = {Dimitrova, Diana and Horak, Fay B and Nutt, John G},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	Doi = {10.1152/jn.00094.2003},
	File = {:home/jan/Dropbox/papers/Dimitrova, Horak, Nutt - 2004 - Postural muscle responses to multidirectional translations in patients with Parkinson's disease.pdf:pdf},
	Issn = {0022-3077},
	Journal = {Journal of neurophysiology},
	Keywords = {Adaptation,Aged,Biomechanics,Case-Control Studies,Electromyography,Electromyography: methods,Female,Functional Laterality,Humans,Leg,Leg: physiopathology,Male,Middle Aged,Movement,Movement: physiology,Muscle,Muscle Contraction,Muscle Contraction: physiology,Parkinson Disease,Parkinson Disease: physiopathology,Physiological,Posture,Posture: physiology,Psychomotor Performance,Psychomotor Performance: physiology,Reaction Time,Reaction Time: physiology,Severity of Illness Index,Skeletal,Skeletal: physiopathology},
	Month = jan,
	Number = {1},
	Pages = {489--501},
	Pmid = {12944541},
	Title = {{Postural muscle responses to multidirectional translations in patients with Parkinson's disease.}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/12944541},
	Volume = {91},
	Year = {2004},
	Bdsk-Url-1 = {http://www.ncbi.nlm.nih.gov/pubmed/12944541},
	Bdsk-Url-2 = {http://dx.doi.org/10.1152/jn.00094.2003}}

@article{Henry1998,
	Abstract = {To characterize muscle synergy organization underlying multidirectional control of stance posture, electromyographic activity was recorded from 11 lower limb and trunk muscles of 7 healthy subjects while they were subjected to horizontal surface translations in 12 different, randomly presented directions. The latency and amplitude of muscle responses were quantified for each perturbation direction. Tuning curves for each muscle were examined to relate the amplitude of the muscle response to the direction of surface translation. The latencies of responses for the shank and thigh muscles were constant, regardless of perturbation direction. In contrast, the latencies for another thigh [tensor fascia latae (TFL)] and two trunk muscles [rectus abdominis (RAB) and erector spinae (ESP)] were either early or late, depending on the perturbation direction. These three muscles with direction-specific latencies may play different roles in postural control as prime movers or as stabilizers for different translation directions, depending on the timing of recruitment. Most muscle tuning curves were within one quadrant, having one direction of maximal activity, generally in response to diagonal surface translations. Two trunk muscles (RAB and ESP) and two lower limb muscles (semimembranosus and peroneus longus) had bipolar tuning curves, with two different directions of maximal activity, suggesting that these muscle can play different roles as part of different synergies, depending on translation direction. Muscle tuning curves tended to group into one of three regions in response to 12 different directions of perturbations. Two muscles [rectus femoris (RFM) and TFL] were maximally active in response to lateral surface translations. The remaining muscles clustered into one of two diagonal regions. The diagonal regions corresponded to the two primary directions of active horizontal force vector responses. Two muscles (RFM and adductor longus) were maximally active orthogonal to their predicted direction of maximal activity based on anatomic orientation. Some of the muscles in each of the synergic regions were not anatomic synergists, suggesting a complex central organization for recruitment of muscles. The results suggest that neither a simple reflex mechanism nor a fixed muscle synergy organization is adequate to explain the muscle activation patterns observed in this postural control task. Our results are consistent with a centrally mediated pattern of muscle latencies combined with peripheral influence on muscle magnitude. We suggest that a flexible continuum of muscle synergies that are modifiable in a task-dependent manner be used for equilibrium control in stance.},
	Author = {Henry, Sharon M and Fung, Joyce and Horak, F B},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	File = {:home/jan/Dropbox/papers/Henry, Fung, Horak - 1998 - EMG responses to maintain stance during multidirectional surface translations.pdf:pdf},
	Issn = {0022-3077},
	Journal = {Journal of neurophysiology},
	Keywords = {Adult,Electromyography,Female,Humans,Leg,Male,Muscle,Postural Balance,Postural Balance: physiology,Posture,Posture: physiology,Reaction Time,Reaction Time: physiology,Skeletal,Skeletal: physiology,Time Factors},
	Month = oct,
	Number = {4},
	Pages = {1939--50},
	Pmid = {9772251},
	Title = {{EMG responses to maintain stance during multidirectional surface translations.}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/9772251},
	Volume = {80},
	Year = {1998},
	Bdsk-Url-1 = {http://www.ncbi.nlm.nih.gov/pubmed/9772251}}

@article{Horak1986,
	Abstract = {We studied the extent to which automatic postural actions in standing human subjects are organized by a limited repertoire of central motor programs. Subjects stood on support surfaces of various lengths, which forced them to adopt different postural movement strategies to compensate for the same external perturbations. We assessed whether a continuum or a limited set of muscle activation patterns was used to produce different movement patterns and the extent to which movement patterns were influenced by prior experience. Exposing subjects standing on a normal support surface to brief forward and backward horizontal surface perturbations elicited relatively stereotyped patterns of leg and trunk muscle activation with 73- to 110-ms latencies. Activity began in the ankle joint muscles and then radiated in sequence to thigh and then trunk muscles on the same dorsal or ventral aspect of the body. This activation pattern exerted compensatory torques about the ankle joints, which restored equilibrium by moving the body center of mass forward or backward. This pattern has been termed the ankle strategy because it restores equilibrium by moving the body primarily around the ankle joints. To successfully maintain balance while standing on a support surface short in relation to foot length, subjects activated leg and trunk muscles at similar latencies but organized the activity differently. The trunk and thigh muscles antagonistic to those used in the ankle strategy were activated in the opposite proximal-to-distal sequence, whereas the ankle muscles were generally unresponsive. This activation pattern produced a compensatory horizontal shear force against the support surface but little, if any, ankle torque. This pattern has been termed the hip strategy, because the resulting motion is focused primarily about the hip joints. Exposing subjects to horizontal surface perturbations while standing on support surfaces intermediate in length between the shortest and longest elicited more complex postural movements and associated muscle activation patterns that resembled ankle and hip strategies combined in different temporal relations. These complex postural movements were executed with combinations of torque and horizontal shear forces and motions of ankle and hip joints. During the first 5-20 practice trials immediately following changes from one support surface length to another, response latencies were unchanged. The activation patterns, however, were complex and resembled the patterns observed during well-practiced stance on surfaces of intermediate lengths.(ABSTRACT TRUNCATED AT 400 WORDS)},
	Annote = {        From Duplicate 1 (                           Central programming of postural movements: adaptation to altered support-surface configurations                         - Horak, F. B.; Nashner, L. M. )
                
        
        
      },
	Author = {Horak, F. B. and Nashner, L. M.},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	File = {:home/jan/Dropbox/papers/Horak, Nashner - 1986 - Central programming of postural movements adaptation to altered support-surface configurations.pdf:pdf},
	Issn = {0022-3077},
	Journal = {Journal of neurophysiology},
	Keywords = {Adaptation,Adult,Ankle,Biomechanics,Central Nervous System,Central Nervous System: physiology,Electromyography,Female,Hip,Humans,Male,Movement,Muscles,Muscles: physiology,Physiological,Posture},
	Month = jun,
	Number = {6},
	Pages = {1369--81},
	Pmid = {3734861},
	Title = {{Central programming of postural movements: adaptation to altered support-surface configurations.}},
	Url = {http://jn.physiology.org/content/55/6/1369.abstract?sid=a40bf16b-fff4-46a4-949c-f962dfe876d2 http://www.ncbi.nlm.nih.gov/pubmed/3734861},
	Volume = {55},
	Year = {1986},
	Bdsk-Url-1 = {http://jn.physiology.org/content/55/6/1369.abstract?sid=a40bf16b-fff4-46a4-949c-f962dfe876d2%20http://www.ncbi.nlm.nih.gov/pubmed/3734861}}

@article{Maki1997,
	Abstract = {Change-in-support strategies, involving stepping or grasping movements of the limbs, are prevalent reactions to instability and appear to play a more important functional role in maintaining upright stance than has generally been appreciated. Contrary to traditional views, change-in-support reactions are not just strategies of last resort, but are often initiated well before the center of mass is near the stability limits of the base of support. Furthermore, it appears that subjects, when given the option, will select these reactions in preference to the fixed-support "hip strategy" that has been purported to be of functional importance. The rapid speed of compensatory change-in-support reactions distinguishes them from "volitional" arm and leg movements. In addition, compensatory stepping reactions often lack the anticipatory control elements that are invariably present in non-compensatory stepping, such as gait initiation. Even when present, these anticipatory adjustments appear to have little functional value during rapid compensatory movements. Lateral destabilization complicates the control of compensatory stepping, a finding that may be particularly relevant to the problem of falls and hip fractures in elderly people. Older adults appear to have problems in controlling lateral stability when stepping to recover balance, even when responding to anteroposterior perturbation. Increased understanding and awareness of change-in-support reactions should lead to development of new diagnostic and therapeutic approaches for detecting and treating specific causes of imbalance and falling in elderly people and in patients with balance impairments.},
	Author = {Maki, B E and McIlroy, W E},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	File = {:home/jan/Dropbox/papers/Maki, McIlroy - 1997 - The role of limb movements in maintaining upright stance the change-in-support strategy.pdf:pdf},
	Issn = {0031-9023},
	Journal = {Physical therapy},
	Keywords = {Adaptation, Physiological,Adult,Aged,Aging,Aging: physiology,Arm,Arm: physiology,Humans,Leg,Leg: physiology,Middle Aged,Movement,Movement: physiology,Postural Balance,Postural Balance: physiology,Posture,Posture: physiology,Sensation Disorders,Sensation Disorders: physiopathology},
	Month = may,
	Number = {5},
	Pages = {488--507},
	Pmid = {9149760},
	Title = {{The role of limb movements in maintaining upright stance: the "change-in-support" strategy.}},
	Volume = {77},
	Year = {1997}}

@article{Maki2006,
	Abstract = {balancing reactions that involve rapid stepping or reaching movements are critical for preventing falls. These compensatory reactions are much more rapid than volitional limb movements and can be very effective in decelerating the centre-of-mass motion induced by sudden unpredictable balance perturbation; however, age-related deterioration in the neural, sensory and/or musculoskeletal systems may impede the ability to execute these reactions effectively.},
	Author = {Maki, Brian E and McIlroy, William E},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	Doi = {10.1093/ageing/afl078},
	File = {:home/jan/Dropbox/papers/Maki, McIlroy - 2006 - Control of rapid limb movements for balance recovery age-related changes and implications for fall prevention.pdf:pdf},
	Issn = {0002-0729},
	Journal = {Age and ageing},
	Keywords = {Accidental Falls,Accidental Falls: prevention \& control,Aged,Aging,Gait,Humans,Movement,Nervous System Physiological Phenomena,Postural Balance,Posture,Walking},
	Month = sep,
	Pages = {ii12--ii18},
	Pmid = {16926197},
	Title = {{Control of rapid limb movements for balance recovery: age-related changes and implications for fall prevention.}},
	Volume = {35 Suppl 2},
	Year = {2006},
	Bdsk-Url-1 = {http://dx.doi.org/10.1093/ageing/afl078}}

@article{McIlroy1995,
	Abstract = {Grasping, counterbalancing and protective arm movements are an important defence against external postural perturbation, but are commonly constrained in studies of postural control. We measured muscle activity at the shoulder, and the lower leg, during unconstrained responses to platform translation. Results revealed very early activation in shoulder muscles, similar in timing to the 'automatic' ankle responses. The arm activation occurred even when the reaction provided no immediate defence against destabilization but would appear to be more than a 'startle' response, since the activation was scaled to the perturbation magnitude and persisted even when perturbations were expected. The arm activation would appear to be driven from a remote sensory source, since there was negligible loading or stretch of the arm muscles.},
	Author = {McIlroy, W E and Maki, B E},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	File = {:home/jan/Dropbox/papers/McIlroy, Maki - 1995 - Early activation of arm muscles follows external perturbation of upright stance.pdf:pdf},
	Issn = {0304-3940},
	Journal = {Neuroscience letters},
	Keywords = {Adult,Ankle,Arm,Electromyography,Female,Humans,Male,Middle Aged,Motion,Muscles,Muscles: physiology,Physical Stimulation,Postural Balance,Postural Balance: physiology,Posture,Posture: physiology,Shoulder},
	Month = jan,
	Number = {3},
	Pages = {177--80},
	Pmid = {7715841},
	Title = {{Early activation of arm muscles follows external perturbation of upright stance.}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/7715841},
	Volume = {184},
	Year = {1995},
	Bdsk-Url-1 = {http://www.ncbi.nlm.nih.gov/pubmed/7715841}}

@article{Mergner2007,
	Abstract = {We model human postural control of upright stance during external disturbances and voluntary lean. Our focus is on how data from various sensors are combined to estimate these disturbances. Whereas most current engineering models of multisensory estimation rely on "internal observers" and complex processing, we compute our estimates by simple sensor fusion mechanisms, i.e., weighted sums of sensory signals combined with thresholds. We show with simulations that this simple device mimics human-like postural behavior in a wide range of situations and diseases. We have now embodied our mechanism in a biped humanoid robot to show that it works in the real world with complex, noisy, and imperfectly known sensors and effectors. On the other hand, we find that the more complex, internal-observer approach, when applied to bipedal posture, can also yield human-like behavior. We suggest that humans use both mechanisms: simple, fast sensor fusions with thresholding for automatic reactions (default mechanism), and more complex methods for voluntary movements. We suggest also that the fusion with thresholding mechanisms are optimized during phylogenesis but are mainly hardwired in any one organism, whereas sensorimotor learning and optimization is mainly a domain of the internal observers.},
	Author = {Mergner, Thomas},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	Doi = {10.1016/S0079-6123(06)65018-8},
	File = {:home/jan/Dropbox/papers/Mergner - 2007 - Modeling sensorimotor control of human upright stance.pdf:pdf},
	Issn = {0079-6123},
	Journal = {Progress in brain research},
	Keywords = {Biological,Humans,Models,Postural Balance,Posture,Proprioception,Proprioception: physiology},
	Month = jan,
	Pages = {283--97},
	Pmid = {17925253},
	Title = {{Modeling sensorimotor control of human upright stance.}},
	Url = {http://dx.doi.org/10.1016/S0079-6123(06)65018-8 http://www.ncbi.nlm.nih.gov/pubmed/17925253},
	Volume = {165},
	Year = {2007},
	Bdsk-Url-1 = {http://dx.doi.org/10.1016/S0079-6123(06)65018-8%20http://www.ncbi.nlm.nih.gov/pubmed/17925253},
	Bdsk-Url-2 = {http://dx.doi.org/10.1016/S0079-6123(06)65018-8}}

@article{Nawayseh2006,
	Abstract = {Oscillatory motions can cause injury in transport when standing passengers or crew lose balance and fall. To predict the loss of balance of standing people, a model is required of the relationship between the input motion and the stability of the human body. This experimental study investigated the effect of frequency, magnitude and direction of oscillation on the postural stability of standing subjects and whether response to rotational oscillation can be predicted from knowledge of response to translational oscillation. Twelve male subjects stood on a floor that oscillated in either horizontal (fore-and-aft or lateral) or rotational (pitch or roll) directions. The oscillations were one-third octave bands of random motion centred on five preferred octave centre frequencies (0.125, 0.25, 0.5, 1.0, and 2.0Hz). The horizontal motions were presented at each of four velocities (0.04, 0.062, 0.099, and 0.16ms−1 rms) and the rotational motions were presented at each of four rotational angles (0.73, 1.46, 2.92, and 5.85$\,^{\circ}$rms) corresponding to four accelerations (0.125, 0.25, 0.5, and 1.0ms−2 rms), where the acceleration is that caused by rotation through the gravitational vector. Postural stability was determined by subjective methods and by measuring the displacement of the centre of pressure at the feet during horizontal oscillation. During horizontal oscillation, increases in motion magnitude increased instability and, with the same velocity at all frequencies from 0.125 to 2.0Hz, most instability occurred in the region of 0.5Hz. Fore-and-aft oscillation produced more instability than lateral oscillation, although displacements of the centre of pressure were similar in both directions. With the same angular displacement at all frequencies from 0.125 to 2.0Hz, pitch oscillation caused more instability than roll oscillation, but in both directions instability increased with increased frequency of oscillation. Frequency weightings for acceleration in the plane of the floor during translational and rotational excitation show the significance of low-frequency translational oscillation and high-frequency rotational motion, and show that it is necessary to know whether the measured acceleration is caused by translation or rotation through gravity.},
	Annote = {How to design perturbations in frequency domain perspective},
	Author = {Nawayseh, Naser and Griffin, Michael J.},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	Doi = {10.1016/j.jsv.2006.06.027},
	File = {:home/jan/Dropbox/papers/Nawayseh, Griffin - 2006 - Effect of frequency, magnitude and direction of translational and rotational oscillation on the postural stab.pdf:pdf},
	Issn = {0022460X},
	Journal = {Journal of Sound and Vibration},
	Month = dec,
	Number = {3},
	Pages = {725--754},
	Title = {{Effect of frequency, magnitude and direction of translational and rotational oscillation on the postural stability of standing people}},
	Url = {http://www.sciencedirect.com/science/article/pii/S0022460X06004731},
	Volume = {298},
	Year = {2006},
	Bdsk-Url-1 = {http://www.sciencedirect.com/science/article/pii/S0022460X06004731},
	Bdsk-Url-2 = {http://dx.doi.org/10.1016/j.jsv.2006.06.027}}

@article{Sarraf2014,
	Abstract = {Maintaining balance while standing on a moving bus or subway is challenging, and falls among passengers are a significant source of morbidity. Standing passengers often rely on handrail grasping to resist perturbations to balance. We conducted experiments that simulated vehicle starts, to examine how handrail location (overhead or shoulder-height), perturbation direction (forward, backward, left or right), and perturbation magnitude (1 or 2m/s(2)) affected the biomechanical effort (peak centre-of-pressure (COP) excursion and hand force) and muscle activations (onset and integrated EMG activity) involved in balance maintenance. COP excursions, hand forces and muscle activations were altered in a functional manner based on task constraints and perturbation characteristics. Handrail position affected normalized values of peak COP and hand force during forward and backward, but not sideways perturbations. During backward perturbations, COP excursion was greater when grasping overhead than shoulder-height. During forward perturbations, hand force was greater when grasping shoulder-height than overhead. Biceps activations were earlier during shoulder-height than overhead grasping, while tibialis anterior activity was higher during overhead than shoulder-height grasping. Our results indicate that, when facing forward or backward to the direction of vehicle motion, overhead grasping minimizes hand force, while shoulder-height grasping minimizes COP excursion. In contrast, grasping with a sideways stance eliminates the effect of handrail location, and was associated with equal or lower biomechanical effort. This suggests that, at least for vehicle starts, the most reasonable strategy may be to stand sideways to the direction of the vehicle movement, and grasp either at shoulder-height or overhead.},
	Author = {Sarraf, Thiago A. and Marigold, Daniel S. and Robinovitch, Stephen N.},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	Doi = {10.1016/j.gaitpost.2013.07.117},
	File = {:home/jan/Dropbox/papers/Sarraf, Marigold, Robinovitch - 2014 - Maintaining standing balance by handrail grasping.pdf:pdf},
	Issn = {1879-2219},
	Journal = {Gait \& posture},
	Keywords = {Balance recovery,Falls,Grasping,Musculoskeletal equilibrium,Public transportation},
	Month = jan,
	Number = {1},
	Pages = {258--64},
	Pmid = {23948334},
	Title = {{Maintaining standing balance by handrail grasping.}},
	Url = {http://www.sciencedirect.com/science/article/pii/S0966636213004414 http://www.ncbi.nlm.nih.gov/pubmed/23948334},
	Volume = {39},
	Year = {2014},
	Bdsk-Url-1 = {http://www.sciencedirect.com/science/article/pii/S0966636213004414%20http://www.ncbi.nlm.nih.gov/pubmed/23948334},
	Bdsk-Url-2 = {http://dx.doi.org/10.1016/j.gaitpost.2013.07.117}}

@article{Wing2011,
	Abstract = {Sensory information about body sway is used to drive corrective muscle action to keep the body's centre of mass located over the base of support provided by the feet. Loss of vision, by closing the eyes, usually results in increased sway as indexed by fluctuations (i.e. standard deviation, s.d.) in the velocity of a marker at C7 on the neck, s.d. dC7. Variability in the rate of change of centre of pressure (s.d. dCoP), which indexes corrective muscle action, also increases during upright standing with eyes closed. Light touch contact by the tip of one finger with an environmental surface can reduce s.d. dC7 and s.d. dCoP as effectively as opening the eyes. We review studies of light touch and balance and then describe a novel paradigm for studying the nature of somatosensory information contributing to effects of light touch balance. We show that 'light tight touch' contact by the index finger held in the thimble of a haptic device results in increased anteroposterior (AP) sway with entraining by either simple or complex AP sinusoidal oscillations of the haptic device. Moreover, sway is also increased when the haptic device plays back the pre-recorded AP sway path of another person. Cross-correlations between hand and C7 motion reveal a 176 ms lead for the hand and we conclude that light tight touch affords an efficient route for somatosensory feedback support for balance. Furthermore, we suggest that the paradigm has potential to contribute to the understanding of interpersonal postural coordination with light touch in future research.},
	Author = {Wing, Alan M and Johannsen, Leif and Endo, Satoshi},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	Doi = {10.1098/rstb.2011.0169},
	File = {:home/jan/Dropbox/papers/Wing, Johannsen, Endo - 2011 - Light touch for balance influence of a time-varying external driving signal.pdf:pdf},
	Issn = {1471-2970},
	Journal = {Philosophical transactions of the Royal Society of London. Series B, Biological sciences},
	Keywords = {Adult,Cervical Vertebrae,Cervical Vertebrae: physiology,Female,Fingers,Fingers: physiology,Fourier Analysis,Humans,Male,Physical Stimulation,Physical Stimulation: methods,Postural Balance,Postural Balance: physiology,Touch,Touch: physiology,Young Adult},
	Month = nov,
	Number = {1581},
	Pages = {3133--41},
	Pmid = {21969695},
	Title = {{Light touch for balance: influence of a time-varying external driving signal.}},
	Url = {http://rstb.royalsocietypublishing.org/content/366/1581/3133.abstract},
	Volume = {366},
	Year = {2011},
	Bdsk-Url-1 = {http://rstb.royalsocietypublishing.org/content/366/1581/3133.abstract},
	Bdsk-Url-2 = {http://dx.doi.org/10.1098/rstb.2011.0169}}

@article{Winter1995,
	Abstract = {The common denominator in the assessment of human balance and posture is the inverted pendulum model. If we focus on appropriate versions of the model we can use it to identify the gravitational and acceleration perturbations and pinpoint the motor mechanisms that can defend against any perturbation. We saw that in quiet standing an ankle strategy applies only in the direction and that a separate hip load/unload strategy by the hip abd/adductors is the totally dominant defence in the direction when standing with feet side by side. In other standing positions (tandem, or intermediate) the two mechanisms still work separately, but their roles reverse. In the tandem position balance is an ankle mechanism (invertors/evertors) while in the direction a hip load/unloading mechanism dominates. During initiation and termination of gait these two separate mechanisms control the trajectory of the COP to ensure the desired acceleration and deceleration of the COM. During initiation the initial acceleration of the COM forward towards the stance limb is achieved by a posterior and lateral movement of the COP towards the swing limb. After this release phase there is a sudden loading of the stance limb which shifts the COP to the stance limb. The COM is now accelerated forward and laterally towards the future position of the swinging foot. Also shifts of the COP were controlled by the hip abductors/adductors and all shifts were under the control of the ankle plantar/dorsiflexors. During termination the trajectory of both COM and COP reverse. As the final weight-bearing on the stance foot takes place the COM is passing forward along the medial border of that foot. Hyperactivity of that foot's plantarflexors takes the COP forward and when the final foot begins to bear weight the COP moves rapidly across and suddenly stops at a position ahead of the future position of the COM. Then the plantarflexors of both feet release and allow the COP to move posteriorly and approach the COM and meet it as quiet stance is achieved. The inverted pendulum model permitted us to understand the separate roles of the two mechanisms during these critical unbalancing and rebalancing periods. During walking the inverted pendulum model explained the dynamics of the balance of HAT in both the and directions. Here the model includes the couple due to the acceleration of the weight-bearing hip as well as gravitational perturbations. The exclusive control of balance and posture are the hip extensors and flexors, while in the direction the dominant control is with the hip abductors with very minor adductor involvement. At the ankle the inverted pendulum model sees the COM passing forward along the medial border to the weight-bearing foot. The model predicts that during single support the body is falling forward and being accelerated medially towards the future position of the swing foot. The model predicts an insignificant role of the ankle invertors/evertors in the control. Rather, the future position of the swing foot is the critical variable or more specifically the lateral displacement from the COM at the start of single support. The position is actually under the control of the hip abd/adductors during the previous early swing phase. The critical importance of the hip abductors/adductors in balance during all phases of standing and walking is now evident. This separate mechanism is important from a neural control perspective and clinically it focuses major attention on therapy and potential problems with some surgical procedures. On the other hand the minuscule role of the ankle invertors/evertors is important to note. Except for the tandem standing position these muscles have negligible involvement in balance control.},
	Author = {Winter, DA},
	Date-Added = {2015-05-11 16:15:47 +0000},
	Date-Modified = {2015-05-11 16:15:47 +0000},
	Doi = {10.1016/0966-6362(96)82849-9},
	File = {:home/jan/Dropbox/papers/Winter - 1995 - Human balance and posture control during standing and walking.pdf:pdf},
	Issn = {09666362},
	Journal = {Gait \& Posture},
	Keywords = {balance,inverted pendulum model,standing,walking},
	Month = dec,
	Number = {4},
	Pages = {193--214},
	Title = {{Human balance and posture control during standing and walking}},
	Url = {http://dx.doi.org/10.1016/0966-6362(96)82849-9 http://linkinghub.elsevier.com/retrieve/pii/0966636296828499},
	Volume = {3},
	Year = {1995},
	Bdsk-Url-1 = {http://dx.doi.org/10.1016/0966-6362(96)82849-9%20http://linkinghub.elsevier.com/retrieve/pii/0966636296828499},
	Bdsk-Url-2 = {http://dx.doi.org/10.1016/0966-6362(96)82849-9}}

@inproceedings{Amundson2005,
	Author = {K. Amundson and J. Raade and N. Harding and H. Kazerooni},
	Booktitle = {IEEE/RSJ Int Conf. on Intelligent Robots and Systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {Serena},
	Timestamp = {2010.12.09},
	Title = {Hybrid Hydraulic-Electric Power Unit for Field and Service Robots},
	Year = {2005}}

@misc{Arboris-Python,
	Author = {Barth\'el\'emy, S\'ebastien and Salini, Joseph and Micaelli, Alain},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {{Arboris-Python}},
	Url = {https://github.com/salini/arboris-python},
	Bdsk-Url-1 = {https://github.com/salini/arboris-python}}

@misc{ARGOS,
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Url = {http://iridia.ulb.ac.be/argos},
	Bdsk-Url-1 = {http://iridia.ulb.ac.be/argos}}

@inproceedings{Azad&Mistry15,
	Author = {Azad, Morteza and Mistry, Michael},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {Balance control strategy for legged robots with compliant contacts},
	Year = {2015}}

@misc{barret,
	Author = {{Barret Technology {I}nc }},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Note = {\url{http://www.barrett.com/robot/products-arm.htm}},
	Title = {The {W}{A}{M} arm from Barret Technology}}

@inproceedings{berger2013,
	Address = {Atlanta, USA},
	Author = {Berger, E. and Vogt, D. and Haji-Ghassemi, N. and Jung, B. and Ben Amor, H.},
	Booktitle = {Humanoid Robots, 13th IEEE-RAS International Conference on},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Month = {October},
	Title = {Inferring Guidance Information in Cooperative Human-Robot Tasks},
	Url = {http://www.humanoids2013.com/},
	Year = 2013,
	Bdsk-Url-1 = {http://www.humanoids2013.com/}}

@article{Brogliato2002,
	Author = {Brogliato, B. and {ten Dam}, A.A. and Paoli, L . and G{\'e}not, F. and Abadie, M.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {Applied Mechanics Reviews},
	Owner = {ivaldi},
	Pages = {107-150},
	Timestamp = {2014.02.13},
	Title = {Numerical simulation of finite dimensional multibody nonsmooth mechanical systems},
	Volume = {55},
	Year = {2002}}

@inproceedings{bruyninckx-icra2003,
	Author = {Bruyninckx, Herman and Soetens, Peter and Koninckx, Bob},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Pages = {2766--2771},
	Title = {The Real-Time Motion Control Core of the {O}rocos Project},
	Year = {2003}}

@misc{Bullet,
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {{Bullet Physics}},
	Url = {http://bulletphysics.org},
	Bdsk-Url-1 = {http://bulletphysics.org}}

@article{Caccavale2005,
	Author = {Caccavale, F. and Natale, C. and Siciliano, B. and Villani, L.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Doi = {10.1109/MRA.2005.1511869},
	Issn = {1070-9932},
	Journal = {Robotics Automation Magazine, IEEE},
	Keywords = {PID control; embedding force control; end-effector position; impedance control; independent joint control; industrial robots; inner motion control loop; interaction control schemes; parallel control; reference trajectory; end effectors; force control; industrial manipulators; motion control; three-term control;},
	Month = sept.,
	Number = {3},
	Pages = {53 - 64},
	Title = {Integration for the next generation: embedding force control into industrial robots},
	Volume = {12},
	Year = {2005},
	Bdsk-Url-1 = {http://dx.doi.org/10.1109/MRA.2005.1511869}}

@inproceedings{Calandra_ICRA15,
	Author = {Calandra, R. and Ivaldi, S. and Deisenroth, M. and Rueckert, E. and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Robotics and Automation },
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Key = {codyco},
	Title = {Learning Inverse Dynamics Models with Contacts},
	Url = {http://www.ausy.tu-darmstadt.de/uploads/Site/EditPublication/Calandra_ICRA15.pdf},
	Year = {2015},
	Bdsk-Url-1 = {http://www.ausy.tu-darmstadt.de/uploads/Site/EditPublication/Calandra_ICRA15.pdf}}

@inproceedings{calandra2014,
	Author = {Calandra, Roberto and Gopalan, Nakul and Seyfarth, Andr\'{e} and Peters, Jan and Deisenroth, Marc Peter},
	Booktitle = {Proceedings of Learning and Intelligent OptimizatioN Conference (LION8)},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Keywords = {Optimization, Model-based Optimization, Bayesian Optimization, Gait Optimization},
	Title = {Bayesian Gait Optimization for Bipedal Locomotion},
	Year = 2014}

@inproceedings{calandra2014b,
	Author = {Calandra, Roberto and Seyfarth, Andr\'{e} and Peters, Jan and Deisenroth, Marc Peter},
	Booktitle = {Proceedings of 2014 IEEE International Conference on Robotics and Automation },
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Keywords = {Optimization, Model-based Optimization, Bayesian Optimization, Gait Optimization},
	Title = {An Experimental Comparison of {B}ayesian Optimization for Bipedal Locomotion},
	Year = 2014}

@inproceedings{Calinon2010,
	Address = {Taipei, Taiwan},
	Author = {S. Calinon and I. Sardellitti and D.G. Caldwell},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {Serena},
	Timestamp = {2010.12.13},
	Title = {Learning-based control strategy for safe human-robot interaction exploiting task and robot redundancies},
	Year = {2010}}

@inproceedings{Cannata2008,
	Abstract = {A novel artificial skin for covering the wholebody of a humanoid robot
is presented. It provides pressuremeasurements and shape information
about the contactsurfaces between the robot and the environment.
The system isbased on a mesh of sensors interconnected in order to
form anetworked structure. Each sensor has 12 capacitive taxels,
hasa triangular shape and is supported by a flexible substrate inorder
to conform to smooth curved surfaces. Threecommunications ports placed
along the sides of each sensorsides allow communications with adjacent
sensors. The tactilemeasurements are sent to embed microcontroller
boards usingserial bus communication links. The system can adaptivelyreduce
its spatial resolution, improving the response time. Thisfeature
is very useful for detecting the first contact veryrapidly, at a
lower spatial resolution, and then increase thespatial resolution
in the region of contact for accuratereconstruction of the contact
pressure distribution.},
	Address = {Seoul, Korea},
	Author = {Cannata, G. and Maggiali, M. and Metta, G. and Sandini, G.},
	Booktitle = {IEEE International Conference on Multisensor Fusion and Integration},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {An Embedded Artificial Skin for Humanoid Robots},
	Year = {2008}}

@article{Chiaverini1999,
	Author = {Chiaverini, S. and Siciliano, B. and Villani, L.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Doi = {10.1109/3516.789685},
	Issn = {1083-4435},
	Journal = {Mechatronics, IEEE/ASME Transactions on},
	Keywords = {compliant surface;disturbance rejection;dynamic model-based compensation;end effector;open control architecture;robot interaction control schemes;static model-based compensation;steady-state behavior;transient state behaviour;wrist force sensor;compensation;force control;force sensors;industrial manipulators;open systems;},
	Month = sep,
	Number = {3},
	Pages = {273 -285},
	Title = {A survey of robot interaction control schemes with experimental comparison},
	Volume = {4},
	Year = {1999},
	Bdsk-Url-1 = {http://dx.doi.org/10.1109/3516.789685}}

@book{Colgate1989,
	Address = {Berlin},
	Author = {Colgate, E and Hogan, N},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Editor = {Kenneth J. Waldron, ed.},
	Owner = {Serena},
	Publisher = {Springer-Verlag},
	Series = {Advanced Robotics 1989},
	Timestamp = {2011.01.03},
	Title = {The Interaction of Robots with Passive Environments: Application to Force Feedback Control.},
	Year = {1989}}

@book{Cormen2002,
	Author = {T.H. Cormen and C.E. Leiserson and R.L. Rivest and C. Stein},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Edition = {2},
	Owner = {Serena},
	Publisher = {McGraw-Hill Higher Education},
	Timestamp = {2010.12.27},
	Title = {Introduction to Algorithms},
	Year = {2002}}

@inbook{Courtney2009,
	Abstract = {Performance Evaluation and Benchmarking of Intelligent Systems presents
research dedicated to the subject of performance evaluation and benchmarking
of intelligent systems by drawing from the experiences and insights
of leading experts gained both through theoretical development and
practical implementation of intelligent systems in a variety of diverse
application domains. This contributed volume offers a detailed and
coherent picture of state-of-the-art, recent developments, and further
research areas in intelligent systems. The chapters cover a broad
range of applications, such as assistive robotics, planetary surveying,
urban search and rescue, and line tracking for automotive assembly.
Subsystems or components described in this book include human-robot
interaction, multi-robot coordination, communications, perception,
and mapping. Chapters are also devoted to simulation support and
open source software for cognitive platforms, providing examples
of the type of enabling underlying technologies that can help intelligent
systems to propagate and increase in capabilities.},
	Address = {Berlin Heidelberg},
	Author = {Courtney, P. and Michel, O. and Cangelosi, A. and Tikhanoff, V. and Metta, G. and Natale, L. and Nori, F. and Kernbach, S.},
	Chapter = {Cognitive Systems Platforms using Open Source},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Editor = {Madhavan, R. and Tunstel, E. and Messina, E.},
	Isbn = {978-1-4419-0491-1},
	Optkeywords = {Artificial Intelligence},
	Optlocation = {Giorgio Metta (giorgio.metta@iit.it)},
	Optnote = {exported from refbase (http://ben.humanoids.iit.it/refbase/show.php?record=591), last updated on Tue, 26 Jan 2010 15:32:43 +0100},
	Opturl = {http://www.springer.com/computer/communications/book/978-1-4419-0491-1},
	Owner = {Serena},
	Publisher = {Springer},
	Timestamp = {2010.12.13},
	Volume = {XIX},
	Year = {2009}}

@inproceedings{Degallier2008,
	Address = {Scottsdale, Arizona},
	Author = {S. Degallier and L. Righetti and L. Natale and F. Nori and G. Metta and A. Ijspeert},
	Booktitle = {IEEE RAS / EMBS International Conference on Biomedical Robotics and Biomechatronics},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Optlocation = {Anastasia Bruzzone (anastasia@liralab.it)},
	Optnote = {exported from refbase (http://ben.humanoids.iit.it/refbase/show.php?record=363), last updated on Tue, 26 Jan 2010 13:08:30 +0100},
	Opturl = {http://ben.humanoids.iit.it/refbase/files/degalliers/2008/363_DegallierS._etal2008.pdf},
	Owner = {Serena},
	Timestamp = {2010.12.13},
	Title = {A modular bio-inspired architecture for movement generation for the infant-like robot iCub},
	Year = {2008}}

@phdthesis{delprete2013,
	Address = {Genova, Italy},
	Author = {Del Prete, Andrea},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	School = {University of Genova},
	Title = {{Control of Contact Forces using Whole-Body Force and Tactile Sensors: Theory and Implementation on the iCub Humanoid Robot}},
	Year = {2013}}

@inproceedings{DeLuca2006,
	Author = {De Luca, A.},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Pages = {1623--1630},
	Title = {Collision detection and safe reaction with the DLR-III lightweight manipulator arm},
	Year = {2006}}

@article{Desantis2008,
	Author = {A. De Santis and B. Siciliano and A. Deluca and A. Bicchi},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {Mechanism and Machine Theory},
	Keywords = {actuation, collision, human-friendly, phri, robot, safety},
	Month = {March},
	Number = {3},
	Pages = {253--270},
	Title = {An atlas of physical human-robot interaction},
	Volume = {43},
	Year = {2008}}

@inproceedings{Drumwright2011,
	Author = {Drumwright, E. and Shell, D.A.},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Pages = {1695-1701},
	Title = {An evaluation of methods for modeling contact in multibody simulation},
	Year = {2011}}

@inproceedings{Drumwright2012,
	Author = {Drumwright, E. and Shell, D.A.},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Pages = {5034-5039},
	Title = {Extensive analysis of Linear Complementarity Problem (LCP) solver performance on randomly generated rigid body contact problems},
	Year = {2012}}

@article{Duriez2006,
	Author = {Duriez, Christian and Dubois, Frederic and Kheddar, Abderrahmane and Andriot, Claude},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {IEEE Transactions on Visualization and Computer Graphics},
	Number = {1},
	Pages = {36--47},
	Publisher = {IEEE},
	Title = {Realistic haptic rendering of interacting deformable objects in virtual environments},
	Volume = {12},
	Year = {2006}}

@inproceedings{Duriez2013,
	Author = {Duriez, Christian},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Organization = {IEEE},
	Pages = {3982--3987},
	Title = {Control of elastic soft robots based on real-time finite element method},
	Year = {2013}}

@incollection{Eckert2009,
	Author = {Eckert, Martine and Hayashibe, Mitsuhiro and Guiraud, David and Wieber, Pierre-Brice and Fraisse, Philippe},
	Booktitle = {{Recent Advances in the 3D Physiological Human}},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Editor = {Nadia Magnenat-Thalmann and Jian J. Zhang and David D. Feng},
	Pages = {121-131},
	Publisher = {Springer London},
	Title = {{Simulating the Human Motion under Functional Electrical Stimulation using the HuMAnS Toolbox}},
	Year = {2009}}

@inproceedings{Einhorn2012,
	Author = {Einhorn, E. and Langner, T. and Stricker, R. and Martin, C. and Gross, H.},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Pages = {2591-2598},
	Title = {MIRA - middleware for robotic applications},
	Year = {2012}}

@inproceedings{Erez2012,
	Author = {Erez, T. and Todorov, E.},
	Booktitle = {Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Pages = {4914-4919},
	Title = {Trajectory optimization for domains with contacts using inverse dynamics},
	Year = {2012}}

@article{escande2012,
	Author = {Escande, A. and Mansard, N. and Wieber, P.-B.},
	journal = {The International Journal of Robotics Research},
	Month = Oct,
	Volume = {33},
	Number = {7},
	pages = {1006--1028},
	Title = {{Hierarchical Quadratic Programming: fast online humanoid-robot motion generation}},
	Year = {2014}
	}

@inproceedings{Featherstone2000,
	Author = {Featherstone, R. and Orin, D.},
	Booktitle = {Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Pages = {826-834 vol.1},
	Title = {Robot dynamics: equations and algorithms},
	Volume = {1},
	Year = {2000}}

@book{Featherstone2007,
	Address = {Secaucus, NJ, USA},
	Author = {Featherstone, Roy},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Isbn = {0387743146},
	Publisher = {Springer-Verlag New York, Inc.},
	Title = {Rigid Body Dynamics Algorithms},
	Year = {2007}}

@inbook{Featherstone2008,
	Author = {R. Featherstone and D. E. Orin},
	Bibsource = {DBLP, http://dblp.uni-trier.de},
	Booktitle = {Springer Handbook of Robotics},
	Chapter = {Dynamics},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Ee = {http://dx.doi.org/10.1007/978-3-540-30301-5_3},
	Pages = {35--65},
	Publisher = {B. Siciliano and O. Khatib Eds., Springer},
	Title = {Handbook of Robotics},
	Year = {2008}}

@article{Featherstone2010,
	Abstract = {This paper presents a new method for calculating operational-space
inertia matrices, and other related quantities, for branched kinematic
trees. It is based on the exploitation of branch-induced sparsity
in the joint-space inertia matrix and the task Jacobian. Detailed
cost figures are given for the new method, and its efficacy is demonstrated
by means of a realistic example based on the ASIMO Next-Generation
humanoid robot. In this example, the new method is shown to be 6.7
times faster than the basic matrix method, and 1.6 times faster than
the efficient low-order algorithm of Rodriguez et al. Furthermore,
cost savings of more than 50,000 arithmetic operations are obtained
in the calculation of the inertia-weighted pseudoinverse of the task
Jacobian and its null-space projection matrix. Additional examples
are considered briefly, in order to further compare the new method
with the algorithm of Rodriguez et al. 10.1177/0278364909357644},
	Author = {Featherstone, Roy},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Day = {8},
	Journal = {International Journal of Robotics Research},
	Keywords = {dynamics},
	Month = {January},
	Pages = {1353--1368},
	Priority = {2},
	Title = {Exploiting Sparsity in Operational-space Dynamics},
	Volume = {29},
	Year = {2010}}

@article{Fitzpatrick2008,
	Acmid = {1327705},
	Address = {Amsterdam, The Netherlands, The Netherlands},
	Author = {Fitzpatrick, Paul and Metta, Giorgio and Natale, Lorenzo},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Issn = {0921-8890},
	Issue = {1},
	Journal = {Robot. Auton. Syst.},
	Numpages = {17},
	Pages = {29--45},
	Publisher = {North-Holland Publishing Co.},
	Title = {Towards long-lived robot genes},
	Volume = {56},
	Year = {2008}}

@article{Fitzpatrick2010,
	Address = {Clifton Park, New York, April, 2010},
	Author = {Fitzpatrick, P. and Natale, L. and Metta, G.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {The Kitware Source: Software Developer's Quarterly},
	Optlocation = {Lorenzo Natale (lorenzo.natale@iit.it)},
	Optnote = {exported from refbase (http://ben.humanoids.iit.it/refbase/show.php?record=754), last updated on Wed, 08 Sep 2010 18:10:34 +0200},
	Opturl = {http://www.kitware.com/products/thesource/july2010.html},
	Owner = {Serena},
	Pages = {7--9},
	Timestamp = {2010.12.13},
	Title = {The {C}Making of a Humanoid},
	Volume = {13},
	Year = {2010}}

@article{friendly,
	Author = {M. Zinn and O. Khatib and B. Roth and J.K. Salisbury},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {Robotics \& Automation Magazine, IEEE},
	Keywords = {actuation, collision, human-friendly, phri, robot, safety},
	Number = {2},
	Owner = {Serena},
	Pages = {12-21},
	Timestamp = {2011.01.03},
	Title = {Playing it Safe - human-friendly robots},
	Volume = {11},
	Year = {2004}}

@inproceedings{Fumagalli2010,
	Address = {Taipei, Taiwan},
	Author = {Fumagalli, M. and Randazzo, M. and Nori, F. and Natale, L. and Metta, G. and Sandini, G.},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {Exploiting proximal {F}/{T} measurements for the i{C}ub active compliance},
	Year = {2010}}

@incollection{Fumagalli2010a,
	Author = {Fumagalli, M. and Gijsberts, A. and Ivaldi, S. and Jamone, L. and Metta, G. and Natale, L. and Nori, F. and Sandini, G.},
	Booktitle = {From Motor Learning to Interaction Learning in Robots, Serie: Studies in Computational Intelligence, Vol. 264},
	Category = {COS},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Editor = {O. Sigaud \& J. Peters},
	Owner = {ivaldi},
	Pages = {159-177},
	Publisher = {Springer-Verlag},
	Timestamp = {2013.04.19},
	Title = {Learning how to exploit proximal force sensing: a comparison approach},
	Year = {2010}}

@article{Fumagalli2012,
	Author = {Fumagalli, M. and Ivaldi, S. and Randazzo, M. and Natale, L. and Metta, G. and Sandini, G. and Nori, F.},
	Category = {ACLI},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Http = {http://www.springerlink.com/content/w728p760713663t7/},
	Journal = {Autonomous Robots},
	Number = {4},
	Owner = {ivaldi},
	Pages = {381-398},
	Publisher = {Springer},
	Timestamp = {2013.04.19},
	Title = {Force feedback exploiting tactile and proximal force/torque sensing. Theory and implementation on the humanoid robot iCub},
	Volume = {33},
	Year = {2012}}

@inproceedings{Haddadin2007,
	Address = {Atlanta, Georgia},
	Author = {S. Haddadin and A. Albu-Schaffer and G. Hirzinger},
	Booktitle = {Robotics: Science and System Conference (RSS 2007)},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {Serena},
	Timestamp = {2011.01.03},
	Title = {Safety evaluation of phisical human-robot interaction via crash-testing},
	Year = {2007}}

@inproceedings{Haddadin2008,
	Address = {Pasadena, CA, USA},
	Author = {Sami Haddadin and Alin Albu-Sch¨affer and and Gerd Hirzinger},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Month = {May 19--23},
	Owner = {Serena},
	Timestamp = {2010.12.09},
	Title = {The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part I: Non-constrained Blunt Impacts},
	Year = {2008}}

@inproceedings{Haddadin2008a,
	Address = {Pasadena, CA, USA},
	Author = {Sami Haddadin and Alin Albu-Sch¨affer and Mirko Frommberger and and Gerd Hirzinger},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Month = {May 19--23},
	Owner = {Serena},
	Timestamp = {2010.12.09},
	Title = {The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part II: Constrained Blunt Impacts},
	Year = {2008}}

@article{Haddadin2010,
	Author = {Sami Haddadin and Alin Albu-Sch{\"a}ffer and Gerd Hirzinger},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {International Journal of Social Robotics},
	Owner = {Serena},
	Pages = {235--252},
	Timestamp = {2010.12.09},
	Title = {Safety Analysis for a Human-Friendly Manipulator},
	Volume = {2},
	Year = {2010}}

@inproceedings{Haddadin2010a,
	Author = {Sami Haddadin and Alin Albu-Schaffer and Olivier Eiberger and Gerd Hirzinger},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {Serena},
	Timestamp = {2010.12.09},
	Title = {New insights concerning intrinsic joint elasticity for Safety},
	Year = {2010}}

@inproceedings{Haddadin2010b,
	Author = {Haddadin, Sami and Urbanek, Holger and Parusel, Sven and Burschka, Darius and Rossmann, Jurgen and Albu-Schaffer, Alin and Hirzinger, Gerd},
	Booktitle = {Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Doi = {10.1109/IROS.2010.5650246},
	Issn = {2153-0858},
	Month = oct.,
	Pages = {3109 -3116},
	Title = {Real-time reactive motion generation based on variable attractor dynamics and shaped velocities},
	Year = {2010},
	Bdsk-Url-1 = {http://dx.doi.org/10.1109/IROS.2010.5650246}}

@article{Hansen-2001-ID362,
	Author = {Hansen, Nikolaus and Ostermeier, Andreas},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {Evolutionary computation},
	Number = {2},
	Pages = {159--195},
	Publisher = {MIT Press},
	Title = {Completely derandomized self-adaptation in evolution strategies},
	Volume = {9},
	Year = {2001}}

@inproceedings{Hirzinger10,
	Author = {Oliver Eiberger and Sami Haddadin and Michael Weis and Alin Albu-Sch{\"a}ffer and Gerd Hirzinger},
	Bibsource = {DBLP, http://dblp.uni-trier.de},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Ee = {http://dx.doi.org/10.1109/ROBOT.2010.5509662},
	Pages = {1687-1694},
	Title = {On joint design with intrinsic variable compliance: derivation of the {D}{L}{R} {Q}{A}-Joint},
	Year = {2010}}

@inproceedings{Hirzinger2002,
	Author = {G. Hirzinger and N. Sporer and A. Albu-Schaffer and M. Hahnle and R. Krenn and A. Pascuccum and M. Schedl},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {Proceedings of the  IEEE International Conference on Robotics and Automation,},
	Pages = {1710--1716},
	Title = {{D}{L}{R}'s torque-controlled light weight robot {I}{I}{I} - are we reaching the technological limits now?},
	Volume = {2},
	Year = {2002}}

@inproceedings{ibanez2013,
	Address = {Sydney, Australia},
	Author = {Ibanez, A. and Bidaud, P. and Padois, V.},
	Booktitle = {Proceedings of the 16th CLAWAR International Conference},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Month = {July},
	Pages = {519-528},
	Pdf = {http://www.isir.upmc.fr/files/2013ACTI2833.pdf},
	Publisher = {World Scientific},
	Title = {Previewed impedance adaptation to coordinate upper-limb trajectory tracking and postural balance in disturbed conditions},
	Year = {2013}}

@inproceedings{ibanez2014-ark,
	Address = {Ljubljana, Slovenia},
	Author = {Ibanez, Aur\'elien and Bidaud, Philippe and Padois, Vincent},
	Booktitle = {Proceedings of the 14th International Symposium on Advances in Robot Kinematics},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Month = {July},
	Title = {Automatic optimal biped walking as a Mixed-Integer Quadratic Program},
	Year = 2014}

@inproceedings{ibanez2014-icra,
	Address = {Hong-Kong, China},
	Author = {Ibanez, Aur\'elien and Bidaud, Philippe and Padois, Vincent},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Month = {June},
	Title = {A Distributed Model Predictive Control approach for robust postural stability of a humanoid robot},
	Year = 2014}

@inproceedings{ibanezIROS2014,
	Address = {Chicago, USA},
	Author = {Ibanez, Aur\'{e}lien and Bidaud, Philippe and Padois, Vincent},
	Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Doi = {10.1109/IROS.2014.6943127},
	Http = {http://hal.archives-ouvertes.fr/hal-01116331/en},
	Month = Sep,
	Title = {Emergence of humanoid walking behaviors from Mixed-Integer Model Predictive Control},
	Year = {2014},
	Bdsk-Url-1 = {http://dx.doi.org/10.1109/IROS.2014.6943127}}

@misc{iCubKinematics,
	Author = {The i{C}ub Project},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Note = {\url{http://eris.liralab.it/wiki/ICubForwardKinematics}},
	Owner = {Serena},
	Timestamp = {2010.12.14},
	Title = {Documentation of iCub Kinematics}}

@book{IdentificazTheory99,
	Address = {Upper Saddle River, NJ},
	Author = {L. Ljung},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {Serena},
	Publisher = {PTR Prentice Hall Information and System Science Series},
	Timestamp = {2011.04.24},
	Title = {System Identification: Theory for the user},
	Year = {1999}}

@misc{idyn,
	Author = {Ivaldi, S. and Fumagalli, M. and Pattacini, U.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Note = {\url{http://eris.liralab.it/iCub/main/dox/html/group__iDyn.html}},
	Owner = {serena},
	Timestamp = {2011.05.31},
	Title = {Documentation of the i{D}yn library}}

@article{ijspeert2013,
	Author = {Ijspeert, A. and Nakanishi, J. and Pastor, P and Hoffmann, H. and Schaal, S.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {Neural Computation},
	Number = {2},
	Pages = {328-373},
	Title = {Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors},
	Volume = {25},
	Year = {2013}}

@inproceedings{Ivaldi2011,
	Author = {Ivaldi, S. and Fumagalli, M. and Randazzo, M. and Nori, F. and Metta, G. and Sandini, G.},
	Booktitle = {Proceedings of the  of IEEE-RAS International Conference on Humanoid Robots},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {ivaldi},
	Pages = {521-528},
	Timestamp = {2012.03.08},
	Title = {Computing robot internal/external wrenches by means of inertial, tactile and {F}/{T} sensors: theory and implementation on the {iCub}},
	Year = {2011}}

@phdthesis{Ivaldi2011a,
	Author = {Ivaldi, S.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {serena},
	School = {University of Genoa and Istituto Italiano di Tecnologia},
	Timestamp = {2011.05.31},
	Title = {From humans to humanoids: a study on optimal motor control for the iCub},
	Year = {2011}}

@inproceedings{Ivaldi2012,
	Author = {Ivaldi, S. and Lyubova, N. and G{\'e}rardeaux-Viret, D. and Droniou, A. and Anzalone, S. M. and Chetouani, M. and Filliat, D. and Sigaud, O.},
	Booktitle = {IEEE RoMan Workshop on Developmental and bio-inspired approaches for social cognitive robotics},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {ivaldi},
	Timestamp = {2012.08.23},
	Title = {A cognitive architecture for developmental learning of objects and affordances: perception and human interaction aspects},
	Year = {2012}}

@inproceedings{Ivaldi2012a,
	Address = {Osaka, Japan},
	Author = {Ivaldi, S. and Lyubova, N. and G{\'e}rardeaux-Viret, D. and Droniou, A. and Anzalone, S. M. and Chetouani, M. and Filliat, D. and Sigaud, O.},
	Booktitle = {Proceedings of the  IEEE-RAS International Conference on Humanoid Robots},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {ivaldi},
	Timestamp = {2012.08.23},
	Title = {Perception and human interaction for developmental learning of objects and affordances},
	Year = {2012}}

@inproceedings{Jain2008,
	Author = {Jain, Abhinandan and Crean, Cory and Kuo, Calvin and Myint, Steven and von Bremen, Hubertus},
	Booktitle = {Proceedings of the  Robotics: Science and Systems VIII - RSS},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {ivaldi},
	Timestamp = {2013.08.26},
	Title = {Minimal coordinate formulation of contact dynamics in operational space},
	Year = {2008}}

@book{Jain2011,
	Author = {Jain, A.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {ivaldi},
	Publisher = {Springer},
	Timestamp = {2014.02.13},
	Title = {Robot and Multibody dynamics: analysis and algorithms},
	Year = {2011}}

@article{Janabi-sharifi00discrete-timeadaptive,
	Author = {Farrokh Janabi-Sharifi and Vincent Hayward and Chung-Shin J. Chen},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {IEEE Transactions on Control Systems Technology},
	Keywords = {dynamics},
	Month = {November},
	Number = {6},
	Owner = {Serena},
	Pages = {1003--1009},
	Timestamp = {2011.01.03},
	Title = {Discrete-Time Adaptive Windowing for Velocity Estimation},
	Volume = {8},
	Year = {2000}}

@article{Jia2013,
	Author = {Yan-Bin Jia},
	Bibsource = {DBLP, http://dblp.uni-trier.de},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Ee = {http://dx.doi.org/10.1177/0278364912457832},
	Journal = {International J. Robotic Research},
	Number = {1},
	Pages = {56-83},
	Title = {Three-dimensional impact: energy-based modeling of tangential compliance},
	Volume = {32},
	Year = {2013}}

@article{Koos2013,
	Author = {Koos, S. and Mouret, J.-B. and Doncieux, S.},
	Category = {ACLI},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Doi = {dx.doi.org/10.1109/TEVC.2012.2185849},
	Journal = {IEEE Transactions on Evolutionary Computation},
	Month = {Feb},
	Number = {1},
	Owner = {ivaldi},
	Pages = {122 - 145},
	Pdf = {http://www.isir.upmc.fr/files/2012ACLI2214.pdf},
	Timestamp = {2014.02.13},
	Title = {The Transferability Approach: Crossing the Reality Gap in Evolutionary Robotics},
	Volume = {17},
	Year = {2013},
	Bdsk-Url-1 = {http://dx.doi.org/10.1109/TEVC.2012.2185849}}

@article{Kulic2007,
	Abstract = {Safe planning and control is essential to bringing human-robot interaction
into common experience. This paper presents an integrated human?robot
interaction strategy that ensures the safety of the human participant
through a coordinated suite of safety strategies that are selected
and implemented to anticipate and respond to varying time horizons
for potential hazards and varying expected levels of interaction
with the user. The proposed planning and control strategies are based
on explicit measures of danger during interaction. The level of danger
is estimated based on factors influencing the impact force during
a human-robot collision, such as the effective robot inertia, the
relative velocity and the distance between the robot and the human.
A second key requirement for improving safety is the ability of the
robot to perceive its environment, and more specifically, human behavior
and reaction to robot movements. This paper also proposes and demonstrates
the use of human monitoring information based on vision and physiological
sensors to further improve the safety of the human robot interaction.
A methodology for integrating sensor-based information about the
user's position and physiological reaction to the robot into medium
and short-term safety strategies is presented. This methodology is
verified through a series of experimental test cases where a human
and an articulated robot respond to each other based on the human's
physical and physiological behavior.},
	Affiliation = {University of Tokyo Tokyo Japan Tokyo Japan},
	Author = {Kulic, Dana and Croft, Elizabeth},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Issue = {2},
	Journal = {Autonomous Robots},
	Keyword = {Computer Science},
	Pages = {149-164},
	Publisher = {Springer Netherlands},
	Title = {Pre-collision safety strategies for human-robot interaction},
	Volume = {22},
	Year = {2007}}

@article{liuGHC2015,
	Author = {Liu, Mingxing and Tan, Yang and Padois, Vincent},
	Doi = {10.1007/s10514-015-9436-1},
	Issn = {0929-5593},
	Journal = {Autonomous Robots},
	Keywords = {Redundant robots; Task hierarchy; Priority switching; Dynamics; Torque-based control},
	Volume = 40,
	Number = 1,
	Language = {English},
	Pages = {17-31},
	Publisher = {Springer US},
	Title = {Generalized hierarchical control},
	Url = {http://dx.doi.org/10.1007/s10514-015-9436-1},
	doi = {10.1007/s10514-015-9436-1},
	Year = {2015},
	Bdsk-Url-1 = {http://dx.doi.org/10.1007/s10514-015-9436-1}}

@article{LiuAutRobSpecIssue2015,
	Author = {Liu, Mingxing and Lober, Ryan and Padois, Vincent},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {Autonomous Robots},
	Title = {{Whole-Body Hierarchical Motion and Force Control for Humanoid Robots}},
	Year = {2015},
	doi = {10.1007/s10514-015-9513-5}}


@inproceedings{liuICRA2015,
	Address = {Seattle, USA},
	Author = {Liu, M. and Hak, S. and Padois, V.},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Http = {http://hal.archives-ouvertes.fr/hal-01116410/en},
	Month = May,
	Title = {Generalized Projector for Task Priority Transitions During Hierarchical Control},
	Year = {2015}}

@inproceedings{LiuIROS2015,
	Author = {Liu, Mingxing and Padois, Vincent},
	Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {{Reactive whole-body control for humanoid balancing on non-rigid unilateral contacts}},
	pages = {3981-3987},
	doi = {10.1109/IROS.2015.7353938},
	Year = {2015}}
	
@inproceedings{perrin2015,
  author = {Perrin, N. and Lau, D. and Padois, V.},
  title = {Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar Contacts},
  booktitle = {Proceedings of the International Symposium on Robotics Research (ISRR'15)},
  year = {2015},
  url = {https://drive.google.com/open?id=0B1vGYIDIMZ0YeHNBY0R1UDlYSlU}
}

@article{Lopes,
	Address = {Tarrytown, NY, USA},
	Author = {Lopes, Ant\'{o}nio and Almeida, Fernando},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Issue = {3},
	Journal = {Robot. Comput.-Integr. Manuf.},
	Keywords = {Force-impedance control, Industrial manipulators, Parallel manipulators, Robot control},
	Month = {June},
	Numpages = {11},
	Pages = {299--309},
	Publisher = {Pergamon Press, Inc.},
	Title = {A force-impedance controlled industrial robot using an active robotic auxiliary device},
	Volume = {24},
	Year = {2008}}

@article{luhTAC83,
	Author = {Luh, J.Y.S. and Fisher, W.D. and Paul, R.P.C.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {IEEE Transactions on Automatic Control},
	Number = {2},
	Pages = {153-161},
	Title = {Joint torque control by a direct feedback for industrial robots},
	Volume = {28},
	Year = {1983}}

@inproceedings{MacroMini1,
	Address = {Berlin: Spinger-Verlag},
	Author = {M. Zinn and O. Khatib and B. Roth and J.K. Salisbury},
	Booktitle = {VIII, Springer Tracts in Advanced Robotics},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Editor = {B. Siciliano and P. Dario, Eds.},
	Owner = {Serena},
	Timestamp = {2011.01.03},
	Title = {A new actuation approach for human friendly robot design},
	Year = {2002}}

@inproceedings{Maggiali2008,
	Abstract = {A novel embedded distributed capacitive tactile sensor system designed
to be installed on humanoid robots is presented. It provides pressure
and shape information about the contacts with objects and the environment.
The system is based on conformable mesh of sensors having triangular
shape, interconnected in order to form a networked structure. Each
triangle is a flexible substrate allowing the sensor to be conformed
to smooth curved surfaces. It provides 12 capacitive measurements
and it has three communications ports placed along its sides: one
for the input from an adjacent triangle, and the others as outputs
toward adjacent triangles. Each triangle is therefore a single sensor
module implementing 12 taxels. The measurements are sent to microcontroller
boards using serial bus communication links. A microcontroller board
set-up and reads the data coming from a group of modules. Every microcontroller
board has a CAN-bus link. The spatial resolution of the skin is one
sensor every 5mm. The aim of the project is to install the artificial
skin on the humanoid robot iCub, for studying control strategy using
tactile feedback coming from the whole body, but it can be used for
many other different mechatronic applications where distributed pressure
information along a surface are required},
	Address = {Limerick, Ireland},
	Author = {M. Maggiali and G. Cannata and P. Maiolino and G. Metta and M. Randazzo and G. Sandini},
	Booktitle = {Mechatronics 2008},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Optkeywords = {tactile sensor},
	Optlocation = {Anastasia Bruzzone (anastasia@liralab.it)},
	Optnote = {exported from refbase (http://ben.humanoids.iit.it/refbase/show.php?record=357), last updated on Tue, 26 Jan 2010 08:34:23 +0100},
	Opturl = {http://ben.humanoids.iit.it/refbase/files/maggiali/2008/357_Maggiali_etal2008.pdf},
	Owner = {Serena},
	Timestamp = {2010.12.13},
	Title = {Embedded Distributed Capacitive Tactile Sensor},
	Year = {2008}}

@article{metta2006yarp,
	Author = {Metta, Giorgio and Fitzpatrick, Paul and Natale, Lorenzo},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {International Journal of Advanced Robotic Systems},
	Number = {1},
	Title = {YARP: Yet Another Robot Platform.},
	Volume = {3},
	Year = {2006}}

@inproceedings{Metta2008,
	Address = {Washington DC, USA},
	Author = {G. Metta and G. Sandini and D. Vernon and L. Natale and F. Nori},
	Booktitle = {Per{M}{I}{S}: Performance Metrics for Intelligent Systems Workshop},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {The i{C}ub humanoid robot: an open platform for research in embodied cognition},
	Year = {2008}}

@article{Metta2010,
	Abstract = {We describe a humanoid robot platform {\^A}— the iCub {\^A}— which was designed
to support collaborativeresearch in cognitive development through
autonomous exploration and social interaction. Themotivation for
this effort is the conviction that significantly greater impact can
be leveraged by adoptingan open systems policy for software and hardware
development. This creates the need for a robusthumanoid robot that
offers rich perceptuo-motor capabilities with many degrees of freedom,
a cognitivecapacity for learning and development, a software architecture
that encourages reuse \& easy integration,and a support infrastructure
that fosters collaboration and sharing of resources. The iCub satisfies
all ofthese needs in the guise of an open-system platform which is
freely available and which has attracted agrowing community of users
and developers. To date, twenty iCubs each comprising approximately
5000mechanical and electrical parts have been delivered to several
research labs in Europe and to one in theUSA.},
	Author = {G. Metta and L. Natale and F. Nori and G. Sandini and D. Vernon and L. Fadiga and C. von Hofsten and K. Rosander and J. Santos-Victor and A. Bernardino and L. Montesano},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Issn = {0893-6080},
	Journal = {Neural Networks, special issue on Social Cognition: From Babies to Robots},
	Optkeywords = {Open-source humanoid robot},
	Optlocation = {Francesco Nori (francesco.nori@iit.it)},
	Optnote = {exported from refbase (http://ben.humanoids.iit.it/refbase/show.php?record=716), last updated on Thu, 14 Oct 2010 17:29:10 +0200},
	Opturl = {http://ben.humanoids.iit.it/refbase/files/mettag/2010/716_MettaG._etal2010.pdf},
	Owner = {Serena},
	Pages = {1125–-1134},
	Publisher = {Elsevier},
	Timestamp = {2010.12.13},
	Title = {The iCub Humanoid Robot: An Open-Systems Platform for Research in Cognitive Development},
	Volume = {23},
	Year = {2010}}

@inbook{Minguez2008,
	Author = {Javier Minguez and Florent Lamiraux and Jean-Paul Laumond},
	Chapter = {Motion planning and obstacle avoidance},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {Serena},
	Pages = {827--852},
	Publisher = {B. Siciliano and O. Khatib Eds., Springer},
	Timestamp = {2010.12.09},
	Title = {Handbook of Robotics},
	Year = {2008}}

@inproceedings{Mistry2010,
	Author = {M. Mistry and J. Buchli and S. Schaal},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Key = {inverse dynamics and model-based control and force control},
	Title = {Inverse Dynamics control of Floating base systems using orthogonal decomposition},
	Year = {2010}}
	
@inproceedings{Modugno2016,
	Author = {Valerio Modugno and Gerard Neumann and Elmar Rueckert and Giuseppe Oriolo and Jan Peters and Serena Ivaldi},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Title = {Learning soft task priorities for control of redundant robots},
	Year = {2016}}

@article{mordatch2012,
	Author = {Igor Mordatch and Emanuel Todorov and Zoran Popovic},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Doi = {http://doi.acm.org/10.1145/2185520.2185539},
	Journal = {ACM Transactions on Graphics},
	Number = {4},
	Title = {Discovery of complex behaviors through contact-invariant optimization},
	Volume = {31},
	Year = {2012},
	Bdsk-Url-1 = {http://doi.acm.org/10.1145/2185520.2185539}}

@inproceedings{Morel1996,
	Author = {Guillaume Morel and Steven Dubowsky},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Pages = {360--365},
	Title = {The Precise Control Of Manipulators With Joint Friction: A Base Force/Torque Sensor Method},
	Year = {1996}}

@article{Morel2000,
	Author = {Morel, G. and Iagnemma, K. and Dubowsky, S.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {Automatica},
	Number = {7},
	Pages = {931--941},
	Title = {The precise control of manipulators with high joint friction using base force/torque sensing},
	Volume = {36},
	Year = {2000}}

@inproceedings{Mouret2012,
	Author = {Mouret, J-B and Koos, S. and Doncieux, S.},
	Booktitle = {''Evolution in Physical Systems'' Workshop in ALIFE},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {ivaldi},
	Timestamp = {2014.02.17},
	Title = {Crossing the Reality Gap: a Short Introduction to the Transferability Approach},
	Year = {2012}}

@misc{mtx,
	Author = {Xsens},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Note = {\url{http://www.xsens.com/en/general/mtx}},
	Owner = {Serena},
	Timestamp = {2011.01.03},
	Title = {The {M}{T}x orientation tracker user manual}}

@book{Murray1994,
	Address = {Boca Raton, FL, USA},
	Author = {Murray, Richard M. and Sastry, S. Shankar and Zexiang, Li},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Isbn = {0849379814},
	Publisher = {CRC Press, Inc.},
	Title = {A Mathematical Introduction to Robotic Manipulation},
	Year = {1994}}

@book{Mutambara1998,
	Author = {A.G.O. Mutambara},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {Serena},
	Publisher = {CRC Press, Inc.},
	Timestamp = {2011.04.26},
	Title = {Decentralized Estimation and Control for Multisensory Systems},
	Year = {1998}}

@article{Nori2015a,
	Author = {Nori ,F. and Traversaro, S. and Eljaik, J. and Romano, F. and Del Prete, A. and Pucci, D.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {Fontiers in Robotics and AI},
	Title = {iCub whole-body control through force regulation on rigid non-coplanar contacts},
	Year = {2015}}

@misc{ODE,
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {{ODE -- Open Dynamics Engine}},
	Url = {http://ode-wiki.org},
	Bdsk-Url-1 = {http://ode-wiki.org}}

@misc{OPENHRP,
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {{OpenHRP}},
	Url = {http://www.openrtp.jp/openhrp3/en},
	Bdsk-Url-1 = {http://www.openrtp.jp/openhrp3/en}}
	
@article{OpenSim,
  title={OpenSim: open-source software to create and analyze dynamic simulations of movement},
  author={Delp, S.L. and Anderson, F.C. and Arnold, A.S. and Loan, P. and Habib, A. and John, C.T. and Guendelman, E. and Thelen, D.G.},
  journal={IEEE Transactions on Biomedical Engineering},
  volume={54},
  number={11},
  pages={1940--1950},
  year={2007},
  publisher={IEEE}
}

@inproceedings{Ortenzietal14,
	Author = {Ortenzi, V. and Adjigble, M. and Kuo, J. and Stolkin, R. and Mistry, M. and others},
	Booktitle = {Proceedings of the IEEE-RAS International Conference on Humanoid Robots},
	Pages = {407--412},
	Title = {An experimental study of robot control during environmental contacts based on projected operational space dynamics},
	Year = {2014}}

@inproceedings{ott2013,
	Author = {Ott, C. and Henze, B. and Lee, D.},
	Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Pages = {4615--4621},
	Title = {Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing},
	Year = {2013}}

@inproceedings{Parmiggiani2009,
	Address = {Paris, France},
	Author = {Parmiggiani, A. and Randazzo, M. and Natale, L. and Metta, G. and Sandini, G.},
	Booktitle = {Proceedings of the IEEE-RAS International Conference on Humanoid Robots},
	Title = {Joint torque sensing for the upper-body of the i{C}ub humanoid robot},
	Year = {2009}}

@inproceedings{Pattacini2010,
	Address = {Taipei, Taiwan},
	Author = {U. Pattacini and F. Nori and L. Natale and G. Metta and G. Sandini},
	Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Title = {An Experimental Evaluation of a Novel Minimum-Jerk Cartesian Controller for Humanoid Robots},
	Year = {2010}}

@inproceedings{Pfeffer1986,
	Address = {Seattle, WA, USA},
	Author = {Pfeffer, L. and Khatib, o. and Hake, J.},
	Booktitle = {Proceedings of the American Control Conference},
	Month = {jun},
	Owner = {Serena},
	Pages = {818--824},
	Title = {Joint Torque Sensory Feedback in the Control of a PUMA Manipulator},
	Volume = {2},
	Year = {1986}}

@article{posa2014,
	Author = {Posa, M. and Cantu, C. and Tedrake, R.},
	Doi = {10.1177/0278364913506757},
	Journal = {International Journal of Robotics Research},
	Number = {1},
	Pages = {69-81},
	Title = {A direct method for trajectory optimization of rigid bodies through contact},
	Volume = {33},
	Year = {2014}}

@inproceedings{Pratt1995,
	Address = {Los Alamitos, CA, USA},
	Author = {G. Pratt and M. Williamson},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	doi = {10.1109/IROS.1995.525827},
	Isbn = {0-8186-7108-4},
	Location = {Pittsburgh, PA, USA},
	Pages = {399--406},
	Title = {Series elastic actuators},
	Year = {1995}}

@article{quigley2009ros,
	Author = {Quigley, Morgan and Conley, Ken and Gerkey, Brian and Faust, Josh and Foote, Tully and Leibs, Jeremy and Wheeler, Rob and Ng, Andrew Y},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {ICRA workshop on open source software},
	Number = {3.2},
	Title = {ROS: an open-source Robot Operating System},
	Volume = {3},
	Year = {2009}}

@misc{Robotcub,
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {{The Robotcub project}},
	Url = {http://www.robotcub.org},
	Bdsk-Url-1 = {http://www.robotcub.org}}

@article{Rude1997,
	Abstract = {This paper handles the problem of collision avoidance in a multi-robot
environment. To solve this problem, the motion processes of the mobile
robots are modelled in space-time. Since the robots are autonomous
and communication is non-deterministic, there is temporal uncertainty
in addition to spatial uncertainty. The paper presents a method to
model both uncertainty components in a homogeneous way. It is shown,
that it is not sufficient to guarantee a spatial security distance
between the robots. Distances in space-time and space-time vectors
must be considered. The main result of this paper is a straightforward
and efficient solution to the problem of collision avoidance between
up to three mobile robots by applying a space-time displacement vector.
The solution is based on space-time, which is a helpful view onto
our world in relativity theory and quantum physics. Space-time methods
are also very valuable in Robotics, especially for problems in dynamic
environments and for motion coordination of mobile robots. Practical
experiments with up to two robots, and simulations of up to three
robots have been performed and are reported.},
	Author = {Rude, M.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Issue = {1},
	Journal = {Autonomous Robots},
	Pages = {101--119},
	Publisher = {Springer Netherlands},
	Title = {Collision Avoidance by Using Space-Time Representations of Motion Processes},
	Volume = {4},
	Year = {1997}}

@phdthesis{salini2012,
	Address = {Paris, France},
	Author = {Salini, Joseph},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Http = {http://tel.archives-ouvertes.fr/tel-00710013},
	Month = {June},
	School = {Universit\'e Pierre et Marie Curie},
	Title = {Dynamic control for the task/posture coordination of humanoids: toward synthesis of complex activities},
	Year = {2012}}

@article{Sandini2007,
	Address = {Springer-Verlag, Heidelberg},
	Author = {G. Sandini and G. Metta and D. Vernon},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Editor = {M. Lungarella et al. (Eds.), Festschrift},
	Journal = {50 Years of AI},
	Pages = {359-370},
	Title = {The i{C}ub Cognitive Humanoid Robot: An Open-System Research Platform for Enactive Cognition},
	Volume = {LNAI 4850},
	Year = {2007}}

@inproceedings{Schiavi2008,
	Address = {Pasadena, CA, USA},
	Author = {R. Schiavi and G. Grioli and S. Sen and A. Bicchi},
	Booktitle = {2008 IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Month = {19-23 May},
	Title = {{V}{S}{A}-{I}{I}: a Novel Prototype of Variable Stiffness Actuator for Safe and Performing Robots Interacting with Humans},
	Year = {2008}}

@inproceedings{Schiavi2009,
	Address = {Kobe, Japan},
	Author = {Schiavi, R. and Bicchi A. and Flacco, F.},
	Booktitle = {2009 IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Month = {12-17 May},
	Owner = {Serena},
	Timestamp = {2011.01.03},
	Title = {Integration of Active and Passive Compliance Control for Safe Human-Robot Coexistence},
	Year = {2009}}

@inproceedings{Schmitz_etal2010,
	Address = {Taipei, Taiwan, October 18-22, 2010},
	Author = {Schmitz, A. and Maggiali, M. and Natale, L. and Bonino, B. and Metta, G.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Optlocation = {Lorenzo Natale (lorenzo.natale@iit.it)},
	Optnote = {exported from refbase (http://ben.humanoids.iit.it/refbase/show.php?record=692), last updated on Mon, 21 Jun 2010 11:16:06 +0200},
	Owner = {Serena},
	Timestamp = {2010.12.13},
	Title = {A Tactile Sensor for the Fingertips of the Humanoid Robot iCub},
	Year = {2010}}

@inproceedings{Schmitz_etal2010_2,
	Address = {Viareggio, Italy, September 12-15, 2010},
	Author = {Schmitz, A. and Maggiali, M. and Natale, L. and Metta, G.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Optlocation = {Lorenzo Natale (lorenzo.natale@iit.it)},
	Optnote = {exported from refbase (http://ben.humanoids.iit.it/refbase/show.php?record=693), last updated on Mon, 21 Jun 2010 11:18:32 +0200},
	Owner = {Serena},
	Timestamp = {2010.12.13},
	Title = {Touch Sensors for Humanoid Hands},
	Year = {2010}}

@inproceedings{Schmitz2008,
	Address = {Daejeon, Korea, December 1-3, 2008},
	Author = {Schmitz, A. and Maggiali, M. and Randazzo, M. and Natale, L. and Metta, G. and},
	Booktitle = {8th IEEE-RAS International Conference on Humanoid Robot},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Optlocation = {Alexander Schmitz (alexander.schmitz@iit.it)},
	Optnote = {exported from refbase (http://ben.humanoids.iit.it/refbase/show.php?record=138), last updated on Tue, 26 Jan 2010 15:55:39 +0100},
	Opturl = {http://ben.humanoids.iit.it/refbase/files/alexanderschmitz/2008/138_AlexanderSchmitz2008.pdf},
	Owner = {Serena},
	Timestamp = {2010.12.13},
	Title = {A Prototype Fingertip with High Spatial Resolution Pressure Sensing for the Robot iCub},
	Year = {2008}}

@inproceedings{Schmitz2010,
	Address = {Nashville, TN, December 6-8, 2010},
	Author = {Schmitz, A. and Pattacini, U. and Nori, F. and Natale, L. and Metta, G. and Sandini, G.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Optlocation = {Francesco Nori (francesco.nori@iit.it)},
	Optnote = {exported from refbase (http://ben.humanoids.iit.it/refbase/show.php?record=748), last updated on Thu, 28 Oct 2010 14:39:04 +0200},
	Owner = {Serena},
	Timestamp = {2010.12.13},
	Title = {Design, Realization and Sensorization of the Dexterous iCub Hand},
	Year = {2010}}

@book{SciaviccoSiciliano,
	Abstract = {<P>Fundamental and technological topics are blended uniquely and developed
clearly in nine chapters - with a gradually increasing level of complexity.
A wide variety of relevant problems is raised throughout, and the
proper tools to find engineering-oriented solutions are introduced
and explained, step by step.</P> <P>Fundamental coverage includes
kinematics, statics and dynamics of manipulators, and trajectory
planning and motion control in free space.</P> <P>Technological aspects
include actuators, sensors, hardware- and software-control architectures
and industrial robot-control algorithms.</P> <P>Furthermore, established
research results involving description of end-effector orientation,
closed kinematic chains, kinematic redundancy and singularities,
dynamic parameter identification, robust and adaptive control, and
force and motion control are provided.</P> <P>To provide readers
with a homogeneous background, three appendices are included on linear
algebra, rigid-body mechanics, and feedback control.</P> <P>To impart
practical skill, more than 50 examples and case studies are carefully
worked out and interwoven through the text, with frequent resort
to simulation. In addition, more than 80 end-of-chapter exercises
are proposed, and the book is accompanied by a solutions manual containing
the MATLAB<SUP>{\^A}{\textregistered}</SUP> code for computer problems; this is available
from the publisher free of charge to those adopting this volume as
a textbook for courses.</P>},
	Author = {Sciavicco, Lorenzo and Siciliano, Bruno},
	Citeulike-Article-Id = {1090825},
	Citeulike-Linkout-0 = {http://www.amazon.ca/exec/obidos/redirect?tag=citeulike09-20\&amp;path=ASIN/1852332212},
	Citeulike-Linkout-1 = {http://www.amazon.de/exec/obidos/redirect?tag=citeulike01-21\&amp;path=ASIN/1852332212},
	Citeulike-Linkout-2 = {http://www.amazon.fr/exec/obidos/redirect?tag=citeulike06-21\&amp;path=ASIN/1852332212},
	Citeulike-Linkout-3 = {http://www.amazon.co.uk/exec/obidos/ASIN/1852332212/citeulike00-21},
	Citeulike-Linkout-4 = {http://www.amazon.com/exec/obidos/redirect?tag=citeulike07-20\&path=ASIN/1852332212},
	Citeulike-Linkout-5 = {http://www.worldcat.org/isbn/1852332212},
	Citeulike-Linkout-6 = {http://books.google.com/books?vid=ISBN1852332212},
	Citeulike-Linkout-7 = {http://www.amazon.com/gp/search?keywords=1852332212\&index=books\&linkCode=qs},
	Citeulike-Linkout-8 = {http://www.librarything.com/isbn/1852332212},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Day = {18},
	Edition = {2nd},
	Howpublished = {Paperback},
	Isbn = {1852332212},
	Keywords = {robotics, teaching},
	Month = {January},
	Owner = {Serena},
	Posted-At = {2007-11-13 09:09:32},
	Priority = {3},
	Publisher = {Springer},
	Series = {Advanced textbooks in Control and Signal Processing},
	Timestamp = {2011.01.03},
	Title = {Modelling and Control of Robot Manipulators},
	Year = {2005}}

@misc{SDL,
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {{SDL -- Simple Directmedia Layer}},
	Url = {http://www.libsdl.org},
	Bdsk-Url-1 = {http://www.libsdl.org}}

@phdthesis{Semini2010,
	Author = {Claudio Semini},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {Serena},
	School = {Italian Institute of Technology and University of Genoa, Italy},
	Timestamp = {2010.12.09},
	Title = {HyQ – Design and Development of a Hydraulically Actuated Quadruped Robot},
	Year = {2010}}

@book{Siciliano2000,
	Address = {Norwell, MA, USA},
	Author = {B. Siciliano and L. Villani},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Isbn = {0792377338},
	Publisher = {Kluwer Academic Publishers},
	Title = {Robot Force Control},
	Year = {2000}}

@article{Siciliano1996443,
	Author = {Bruno Siciliano and Luigi Villani},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Doi = {DOI: 10.1016/0005-1098(95)00173-5},
	Issn = {0005-1098},
	Journal = {Automatica},
	Keywords = {Robots},
	Number = {3},
	Pages = {443 - 447},
	Title = {A passivity-based approach to force regulation and motion control of robot manipulators},
	Url = {http://www.sciencedirect.com/science/article/B6V21-3VVTX5S-M/2/13f392d3d9657cff5d965312bfc3c4e5},
	Volume = {32},
	Year = {1996},
	Bdsk-Url-1 = {http://www.sciencedirect.com/science/article/B6V21-3VVTX5S-M/2/13f392d3d9657cff5d965312bfc3c4e5},
	Bdsk-Url-2 = {http://dx.doi.org/10.1016/0005-1098(95)00173-5}}

@misc{Siconos,
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {{Siconos -- MLCP}},
	Url = {http://siconos.gforge.inria.fr/Numerics/MLCProblem.html},
	Bdsk-Url-1 = {http://siconos.gforge.inria.fr/Numerics/MLCProblem.html}}

@inproceedings{Silcowitz2010,
	Author = {Silcowitz, M. and Niebe, S.M. and Erleben, K.},
	Booktitle = {Proceedings of the International Conference on Computer Graphics Theory and Applications},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {ivaldi},
	Pages = {38-45},
	Timestamp = {2013.08.26},
	Title = {Projected Gauss-Seidel Subspace Minimization Method for Interactive Rigid Body Dynamics},
	Year = {2010}}

@article{Sisbot2010,
	Abstract = {With robotics hardware becoming more and more safe and compliant,
robots are not far from entering our homes. The robot, that will
share the same environment with humans, will be expected to consider
the geometry of the interaction and to perform intelligent space
sharing. In this case, even the simplest tasks, e.g. handing over
an object to a person, raise important questions such as: where the
task should be achieved?; how to place the robot relatively to the
human in order to ease the human action?; how to hand over an object?;
and more generally, how to move in a relatively constrained environment
in the presence of humans? In this paper we present an integrated
motion synthesis framework from planning to execution that is especially
designed for a robot that interacts with humans. This framework,
composed of Perspective Placement, Human Aware Manipulation Planner
and Soft Motion Trajectory Planner, generates robot motions by taking
into account human’s safety; his vision field and his perspective;
his kinematics and his posture along with the task constraints.},
	Affiliation = {LAAS CNRS 7 avenue du Colonel Roche 31077 Toulouse France},
	Author = {Sisbot, Emrah and Marin-Urias, Luis and Broqu{\`e}re, Xavier and Sidobre, Daniel and Alami, Rachid},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Issn = {1875-4791},
	Issue = {3},
	Journal = {International Journal of Social Robotics},
	Keyword = {Engineering},
	Pages = {329--343},
	Publisher = {Springer Netherlands},
	Title = {Synthesizing Robot Motions Adapted to Human Presence},
	Volume = {2},
	Year = {2010}}

@inproceedings{stulp2013,
	Address = {Atlanta, USA},
	Author = {Stulp, Freek and Raiola, Gennaro and Hoarau, Antoine and Ivaldi, Serena and Sigaud, Olivier},
	Booktitle = {Humanoid Robots, 13th IEEE-RAS International Conference on},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Month = {October},
	Title = {{Learning compact parameterized skills with expanded function approximators}},
	Year = 2013}

@inproceedings{Tassa2012,
	Author = {Tassa, Y. and Erez, T. and Todorov, E.},
	Booktitle = {Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Pages = {4906-4913},
	Title = {Synthesis and stabilization of complex behaviors through online trajectory optimization},
	Year = {2012}}

@inproceedings{Tikhanoff2008,
	Author = {Tikhanoff, Vadim and Cangelosi, Angelo and Fitzpatrick, Paul and Metta, Giorgio and Natale, Lorenzo and Nori, Francesco},
	Booktitle = {8th Workshop on Performance Metrics for Intelligent Systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Pages = {57--61},
	Title = {An open-source simulator for cognitive robotics research: the prototype of the iCub humanoid robot simulator},
	Year = {2008}}

@inproceedings{tikhanoff2008open,
	Author = {Tikhanoff, Vadim and Cangelosi, Angelo and Fitzpatrick, Paul and Metta, Giorgio and Natale, Lorenzo and Nori, Francesco},
	Booktitle = {Proceedings of the 8th workshop on performance metrics for intelligent systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Organization = {ACM},
	Pages = {57--61},
	Title = {An open-source simulator for cognitive robotics research: the prototype of the iCub humanoid robot simulator},
	Year = {2008}}

@inproceedings{Todorov2010,
	Author = {Todorov, E.},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Pages = {2322-2329},
	Title = {Implicit nonlinear complementarity: A new approach to contact dynamics},
	Year = {2010}}

@inproceedings{Todorov2011,
	Author = {Todorov, E.},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Pages = {1071-1076},
	Title = {A convex, smooth and invertible contact model for trajectory optimization},
	Year = {2011}}

@inproceedings{Todorov2012,
	Author = {Todorov, E. and Erez, T. and Tassa, Y.},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Pages = {5026-5033},
	Title = {MuJoCo: A physics engine for model-based control},
	Year = {2012}}

@inproceedings{Todorov2014,
	Author = {Todorov, E.},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Owner = {ivaldi},
	Timestamp = {2014.02.13},
	Title = {Analytically-invertible dynamics with contacts and constraints: theory and implementation in MuJoCo},
	Year = {2014}}

@inproceedings{Tsagarakis2007,
	Address = {San Diego, USA},
	Author = {N.G. Tsagarakis and F. Becchi and L. Righetti and A. Ijspeert and D.G. Caldwell},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {Lower Body Realization of the Baby Humanoid - i{C}ub},
	Year = {2007}}

@article{Tsagarakis2007a,
	Author = {N.G. Tsagarakis and G. Metta and G. Sandini and D. Vernon and R. Beira and J. Santos-Victor and M.C. Carrazzo and F. Becchi and D.G. Caldwell},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {International Journal of Advanced Robotics},
	Pages = {1151--75},
	Title = {i{C}ub - The Design and Realization of an Open Humanoid Platform for Cognitive and Neuroscience Research},
	Volume = {21(10)},
	Year = {2007}}

@inproceedings{Tsagarakis2009,
	Address = {St. Louis, MO, USA},
	Author = {Tsagarakis, Nikos G. and Vanderborght, Bram and Laffranchi, Matteo and Caldwell, Darwin G.},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Isbn = {978-1-4244-3803-7},
	Pages = {4962--4968},
	Title = {The mechanical design of the new lower body for the child humanoid robot 'iCub'},
	Year = {2009}}

@misc{URDF,
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {{URDF - Unified Robot Description Format}},
	Url = {http://wiki.ros.org/urdf},
	Bdsk-Url-1 = {http://wiki.ros.org/urdf}}

@article{Volpe1993,
	Author = {R. Volpe and P. Khosla},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Journal = {IEEE Transactions on Automatic Control},
	Month = {November},
	Owner = {Serena},
	Pages = {1634-1650},
	Timestamp = {2011.01.03},
	Title = {A Theoretical and Experimental Investigation of Explicit Force Control Strategies for Manipulators},
	Volume = {38(11)},
	Year = {1993}}

@inproceedings{Wieber2006,
	Author = {Wieber, Pierre-Brice and Billet, Florence and Boissieux, Laurence and Pissard-Gibollet, Roger},
	Booktitle = {{International Symposium on the 3D Analysis of Human Movement}},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {{The HuMAnS toolbox, a homogenous framework for motion capture, analysis and simulation}},
	Year = {2006}}

@article{Wittenburg1994,
	Author = {Wittenburg, J.},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Editor = {M. Pereira and J. Ambrosio, Kluwer Academic Publishers},
	Journal = {Computer-Aided Analysis of Rigid and Flexible Mechanical Systems},
	Pages = {159--196},
	Title = {Topological Description of Articulated Systems},
	Year = {1994}}

@misc{XDE,
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Title = {{XDE}},
	Url = {http://www.kalisteo.fr/lsi/en/aucune/a-propos-de-xde},
	Bdsk-Url-1 = {http://www.kalisteo.fr/lsi/en/aucune/a-propos-de-xde}}

@article{Yang2000,
	Abstract = {In this paper, a novel neural network approach to real-time collision-free
path planning of robot manipulators in a nonstationary environment
is proposed, which is based on a biologically inspired neural network
model for dynamic trajectory generation of a point mobile robot.
The state space of the proposed neural network is the joint space
of the robot manipulators, where the dynamics of each neuron is characterized
by a shunting equation or an additive equation. The real-time robot
path is planned through the varying neural activity landscape that
represents the dynamic environment. The proposed model for robot
path planning with safety consideration is capable of planning a
real-time comfortable path without suffering from the too close nor
too far problems. The model algorithm is computationally efficient.
The computational complexity is linearly dependent on the neural
network size. The effectiveness and efficiency are demonstrated through
simulation studies.},
	Author = {Yang, Simon X. and Meng, Max},
	Date-Added = {2015-05-11 15:55:55 +0000},
	Date-Modified = {2015-05-11 15:55:55 +0000},
	Issue = {1},
	Journal = {Autonomous Robots},
	Pages = {27--39},
	Publisher = {Springer Netherlands},
	Title = {Real-time Collision-free Path Planning of Robot Manipulators using Neural Network Approaches},
	Volume = {9},
	Year = {2000}}

@inproceedings{Azad2014,
	Author = {Azad, M. and Babic, J. and Mistry, M.N.},
	Booktitle = {Humanoid Robots , 2014 14th IEEE-RAS International Conference on},
	Date-Added = {2015-05-11 15:55:47 +0000},
	Date-Modified = {2015-05-11 15:55:47 +0000},
	Month = {Nov},
	Pages = {348-353},
	Title = {Effects of hand contact on the stability of a planar humanoid with a momentum based controller},
	Year = {2014}}

@article{Fitts1954,
	Author = {Fitts, P. M.},
	Journal = {Journal of experimental psychology},
	Number = {6},
	Pages = {381--391},
	Title = {{The information capacity of the human motor system in controlling the amplitude of movement}},
	Volume = {47},
	Year = {1954}}

@inproceedings{Ijspeert2002,
	Author = {Auke Jan Ijspeert and Nakanishi, J. and Schaal, S.},
	Booktitle = {Intelligent Robots and Systems (IROS), 2002 IEEE/RSJ International Conference on},
	Date-Added = {2015-05-11 15:55:47 +0000},
	Date-Modified = {2015-05-11 15:55:47 +0000},
	Month = {Sept},
	Pages = {958-963},
	Title = {Learning rhythmic movements by demonstration using nonlinear oscillators},
	Volume = {1},
	Year = {2002}}

@article{Peternel2013,
	Author = {Peternel, Luka and Babi\v{c}, Jan},
	Date-Added = {2015-05-11 15:55:47 +0000},
	Date-Modified = {2015-05-11 15:55:47 +0000},
	Journal = {Advanced Robotics},
	Month = {Jun},
	Number = {13},
	Pages = {1003-1012},
	Title = {Learning of compliant human-robot interaction using full-body haptic interface},
	Volume = {27},
	Year = {2013}}

@article{Peternel2014,
	Author = {Peternel, L. and Petri\v{c}, T. and Oztop, E. and Babi\v{c}, J.},
	Date-Added = {2015-05-11 15:55:47 +0000},
	Date-Modified = {2015-05-11 15:55:47 +0000},
	Journal = {Autonomous robots},
	Month = {jan},
	Number = {1-2},
	Pages = {123-136},
	Title = {Teaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approach},
	Volume = {36},
	Year = {2014}}

@inproceedings{Peternel2015,
	Author = {Peternel, Luka and Petri\v{c}, Tadej and Babi\v{c}, Jan},
	Booktitle = {Robotics and Automation , 2015 IEEE International Conference on},
	Date-Added = {2015-05-11 15:55:47 +0000},
	Date-Modified = {2015-05-11 15:55:47 +0000},
	Month = {May},
	Pages = {-},
	Title = {Human-in-the-loop approach for teaching robot assembly tasks using impedance control interface},
	Year = {2015}}

@article{Schaal1998,
	Address = {Cambridge, MA, USA},
	Author = {Schaal, S. and Atkeson, C. G.},
	Date-Added = {2015-05-11 15:55:47 +0000},
	Date-Modified = {2015-05-11 15:55:47 +0000},
	Journal = {Neural Comput.},
	Month = nov,
	Number = {8},
	Pages = {2047--2084},
	Publisher = {MIT Press},
	Title = {Constructive Incremental Learning from Only Local Information},
	Volume = {10},
	Year = {1998}}

@article{Shadmehr2010,
	Author = {Shadmehr, Reza and {Orban de Xivry}, Jean Jacques and Xu-Wilson},
	Date-Added = {2015-05-11 15:55:47 +0000},
	Date-Modified = {2015-05-11 15:55:47 +0000},
	Journal = {The Journal of neuroscience},
	Number = {31},
	Pages = {10507--10516},
	Title = {{Temporal discounting of reward and the cost of time in motor control.}},
	Volume = {30},
	Year = {2010}}

@inproceedings{Fiorio2014,
	Address = {Chicago, Illinois},
	Author = {Carlo Ciliberto and Luca Fiorio and Marco Maggiali and Lorenzo Natale and Lorenzo Rosasco and Giorgio Metta and Giulio Sandini and Francesco Nori},
	Booktitle = {Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)},
	Date-Added = {2015-05-11 15:55:38 +0000},
	Date-Modified = {2015-05-11 15:55:38 +0000},
	Title = {Exploiting global force torque measurements for local compliance estimation in tactile arrays},
	Year = 2014}

@misc{Mingo2014,
	Author = {Enrico Mingo Hoffman and Silvio Traversaro and Alessio Rocchi and Mirko Ferrati and Alessandro Settimi and Lorenzo Natale and Antonio Bicchi and Francesco Nori and Nikos Tsagarakis},
	Date-Added = {2015-05-11 15:55:38 +0000},
	Date-Modified = {2015-05-11 15:55:38 +0000},
	Howpublished = {Modelling and Simulation for Autonomous Systems Workshop (MESAS 2014).},
	Month = {March},
	Title = {A {Y}{A}{R}{P} based plugin for Gazebo simulator},
	Year = {2014}}

@inproceedings{Nori2015,
	Author = {Nori, F.},
	Booktitle = {submitted},
	Date-Added = {2015-05-11 15:55:38 +0000},
	Date-Modified = {2015-05-11 15:55:38 +0000},
	Title = {BERDY: Bayesian Estimation for Robot Dynamics},
	Year = {2015}}

@inproceedings{Nori2015b,
	Author = {Nori, F. and Kuppuswamy, N. and Traversaro, S.},
	Booktitle = {submitted},
	Date-Added = {2015-05-11 15:55:38 +0000},
	Date-Modified = {2015-05-11 15:55:38 +0000},
	Title = {Covariance estimation in Newton-Euler equations with redundant measurements: application to articulated rigid bodies.},
	Year = {2015}}

@inproceedings{Traversaro2013,
	Address = {Atlanta, USA},
	Author = {Traversaro, Silvio and {Del Prete}, Andrea and Muradore, Riccardo and Natale, Lorenzo and Nori, Francesco},
	Booktitle = {Humanoid Robots, 13th IEEE-RAS International Conference on},
	Date-Added = {2015-05-11 15:55:38 +0000},
	Date-Modified = {2015-05-11 15:55:38 +0000},
	Month = {October},
	Title = {{Inertial Parameter Identification Including Friction and Motor Dynamics}},
	Url = {http://www.humanoids2013.com/},
	Year = 2013,
	Bdsk-Url-1 = {http://www.humanoids2013.com/}}

@inproceedings{Traversaro2014,
	Address = {Chicago, Illinois},
	Author = {Silvio Traversaro and Andrea Del Prete and Serena Ivaldi and Francesco Nori},
	Booktitle = {Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)},
	Date-Added = {2015-05-11 15:55:38 +0000},
	Date-Modified = {2015-05-11 15:55:38 +0000},
	Title = {Avoiding to rely on Inertial Parameters in Estimating Joint Torques with proximal F/T sensing},
	Year = 2014}

@inproceedings{Traversaro2015,
	Address = {Seattle, USA, May 26th - 30th, 2015},
	Author = {Traversaro, S. and Del Prete, A. and Ivaldi, S. and Nori, F.},
	Booktitle = {{I}{E}{E}{E} International Conference on Robotics and Automation (ICRA 2015)},
	Date-Added = {2015-05-11 15:55:38 +0000},
	Date-Modified = {2015-05-11 15:55:38 +0000},
	Title = {Inertial parameters identification and joint torques estimation with proximal force/torque sensing},
	Year = {2015}}

@inproceedings{Traversaro2015b,
	Address = {Seattle, USA, May 26th - 30th, 2015},
	Author = {Traversaro, S. and Pucci, D. and Nori, F.},
	Booktitle = {{I}{E}{E}{E} International Conference on Robotics and Automation (ICRA 2015)},
	Date-Added = {2015-05-11 15:55:38 +0000},
	Date-Modified = {2015-05-11 15:55:38 +0000},
	Title = {In Situ Calibration of Six-Axis Force-Torque Sensors using Accelerometer Measurements},
	Year = {2015}}

@article{Calandra2014d,
	Adsnote = {Provided by the SAO/NASA Astrophysics Data System},
	Adsurl = {http://adsabs.harvard.edu/abs/2014arXiv1402.5876C},
	Archiveprefix = {arXiv},
	Author = {{Calandra}, R. and {Peters}, J. and {Rasmussen}, C.~E. and {Deisenroth}, M.~P.},
	Eprint = {1402.5876},
	Journal = {ArXiv e-prints},
	Keywords = {Statistics - Machine Learning, Computer Science - Learning},
	Month = feb,
	Primaryclass = {stat.ML},
	Title = {{Manifold Gaussian Processes for Regression}},
	Year = 2014}

@article{Kupcsik_AI_conditionallyaccepted,
	Author = {Kupcsik, A.G. and Deisenroth, M.P. and Peters, J. and Ai Poh, L. and Vadakkepat, V. and Neumann, G.},
	Booktitle = {Artificial Intelligence},
	Crossref = {p10684},
	Key = {complacs},
	Title = {Model-based Contextual Policy Search for Data-Efficient Generalization of Robot Skills},
	Year = {conditionally accepted}}

@article{Meyer_JNER_2013,
	Author = {Meyer, T. and Peters, J. and Zander, T.O. and Schoelkopf, B. and Grosse-Wentrup, M.},
	Booktitle = {Journal of Neuroengineering and Rehabilitation},
	Crossref = {p10649},
	Title = {Predicting Motor Learning Performance from Electroencephalographic Data},
	Url = {4},
	Year = {accepted},
	Bdsk-Url-1 = {%1C%1C4%1C%1C}}

@article{Muelling_BC_accepted,
	Author = {Muelling, K. and Boularias, A. and Mohler, B. and Schoelkopf, B. and Peters, J.},
	Booktitle = {Biological Cybernetics},
	Crossref = {p10683},
	Key = {complacs},
	Title = {Learning Strategies in Table Tennis using Inverse Reinforcement Learning},
	Year = {accepted}}

@article{dann14a,
	Author = {Dann, C. and Neumann, G. and Peters, J.},
	Booktitle = {Journal of Machine Learning Research},
	Crossref = {p10643},
	Key = {complacs},
	Number = {March},
	Pages = {809-883},
	Title = {Policy Evaluation with Temporal Differences: A Survey and Comparison},
	Url = {6},
	Year = {2014},
	Bdsk-Url-1 = {%1C%1C6%1C%1C}}

@article{Bocsi_AR_2014,
	Author = {Bocsi, B. and Csato, L. and Peters, J.},
	Booktitle = {Advanced Robotics},
	Crossref = {p10652},
	Title = {Indirect Robot Model Learning for Tracking Control},
	Url = {8},
	Year = {2014},
	Bdsk-Url-1 = {%1C%1C8%1C%1C}}

@article{BenAmor_AR_2014,
	Author = {Ben Amor, H. and Saxena, A. and Hudson, N. and Peters, J.},
	Booktitle = {Autonomous Robots},
	Crossref = {p10655},
	Title = {Special issue on autonomous grasping and manipulation},
	Year = {2014}}

@article{pami_final_w_appendix,
	Author = {Deisenroth, M.P. and Fox, D. and Rasmussen, C.E.},
	Booktitle = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
	Crossref = {p10656},
	Title = {Gaussian Processes for Data-Efficient Learning in Robotics and Control},
	Url = {10},
	Year = {2014},
	Bdsk-Url-1 = {%1C%1C10%1C%1C}}

@article{wierstra14a,
	Author = {Wierstra. D. and Schaul, T. and Glasmachers, T. and Sun, Y. and Peters, J. and Schmidhuber, J.},
	Booktitle = {Journal of Machine Learning Research},
	Crossref = {p10657},
	Number = {March},
	Pages = {949-980},
	Title = {Natural Evolution Strategies},
	Url = {12},
	Year = {2014},
	Bdsk-Url-1 = {%1C%1C12%1C%1C}}

@inproceedings{Deisenroth_ICRA_2014,
	Author = {Deisenroth, M.P. and Englert, P. and Peters, J. and Fox, D.},
	Booktitle = {Proceedings of 2014 IEEE International Conference on Robotics and Automation },
	Crossref = {p10658},
	Title = {Multi-Task Policy Search for Robotics},
	Url = {14},
	Year = {2014},
	Bdsk-Url-1 = {%1C%1C14%1C%1C}}

@inproceedings{Bischoff_ICRA_2014,
	Author = {Bischoff, B. and Nguyen-Tuong, D. and van Hoof, H. McHutchon, A. and Rasmussen, C.E. and Knoll, A. and Peters, J. and Deisenroth, M.P.},
	Booktitle = {Proceedings of 2014 IEEE International Conference on Robotics and Automation },
	Crossref = {p10659},
	Title = {Policy Search For Learning Robot Control Using Sparse Data},
	Url = {16},
	Year = {2014},
	Bdsk-Url-1 = {%1C%1C16%1C%1C}}

@inproceedings{Calandra_ICRA2014,
	Author = {Calandra, R. and Seyfarth, A. and Peters, J. and Deisenroth, M.P.},
	Booktitle = {Proceedings of 2014 IEEE International Conference on Robotics and Automation },
	Crossref = {p10660},
	Key = {codyco},
	Title = {An Experimental Comparison of Bayesian Optimization for Bipedal Locomotion},
	Url = {18},
	Year = {2014},
	Bdsk-Url-1 = {%1C%1C18%1C%1C}}

@book{Kober_STARSS_2014,
	Author = {Kober, J. and Peters, J.},
	Booktitle = {Springer Tracts in Advanced Robotics 97 (STAR Series), Springer},
	Crossref = {p10661},
	Isbn/Issn = {978-3-319-03193-4},
	Title = {Learning Motor Skills - From Algorithms to Robot Experiments},
	Year = {2014}}

@inproceedings{Kroemer_ICRA_2014,
	Author = {Kroemer, O. and van Hoof, H. and Neumann, G. and Peters, J.},
	Booktitle = {Proceedings of 2014 IEEE International Conference on Robotics and Automation },
	Crossref = {p10662},
	Key = {tacman, 3rd-hand},
	Title = {Learning to Predict Phases of Manipulation Tasks as Hidden States},
	Url = {20},
	Year = {2014},
	Bdsk-Url-1 = {%1C%1C20%1C%1C}}

@inproceedings{icraHeniInteract,
	Author = {Ben Amor, H. and Neumann, G. and Kamthe, S. and Kroemer, O. and Peters, J.},
	Booktitle = {Proceedings of 2014 IEEE International Conference on Robotics and Automation },
	Crossref = {p10663},
	Key = {codyco, complacs},
	Title = {Interaction Primitives for Human-Robot Cooperation Tasks},
	Url = {22},
	Year = {2014},
	Bdsk-Url-1 = {%1C%1C22%1C%1C}}

@inproceedings{Lioutikov_ICRA_2014,
	Author = {Lioutikov, R. and Paraschos, A. and Neumann, G. and Peters, J.},
	Booktitle = {Proceedings of 2014 IEEE International Conference on Robotics and Automation },
	Crossref = {p10664},
	Key = {3rd-hand, complacs},
	Title = {Sample-Based Information-Theoretic Stochastic Optimal Control},
	Url = {24},
	Year = {2014},
	Bdsk-Url-1 = {%1C%1C24%1C%1C}}

@inproceedings{Haji-Ghassemi_PICAIS_2014,
	Author = {Haji-Ghassemi, N. and Deisenroth, M.P.},
	Booktitle = {Proceedings of the International Conference on Artificial Intelligence and Statistics (AISTATS)},
	Crossref = {p10665},
	Title = {Approximate Inference for Long-Term Forecasting with Periodic Gaussian Processes},
	Year = {2014}}

@inproceedings{Calandra_LION8,
	Author = {Calandra, R. and Gopalan, N. and Seyfarth, A. and Peters, J. and Deisenroth, M.P.},
	Booktitle = {Proceedings of the 2014 Learning and Intelligent Optimization Conference (LION8)},
	Crossref = {p10666},
	Key = {codyco},
	Title = {Bayesian Gait Optimization for Bipedal Locomotion},
	Url = {26},
	Year = {2014},
	Bdsk-Url-1 = {%1C%1C26%1C%1C}}

@inproceedings{Kamthe_PIICASSP_2014,
	Author = {Kamthe, S. and Peters, J. and Deisenroth, M.},
	Booktitle = {Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
	Crossref = {p10668},
	Title = {Multi-modal filtering for non-linear estimation},
	Year = {2014}}

@inproceedings{Manschitz_PI_2014,
	Author = {Manschitz, S. and Kober, J. and Gienger, M. and Peters, J.},
	Booktitle = {Proceedings of ISR/ROBOTIK 2014},
	Crossref = {p10669},
	Key = {hri-collaboration},
	Title = {Learning to Unscrew a Light Bulb from Demonstrations},
	Year = {2014}}

@inproceedings{Lioutikov_PICIAS_2014,
	Author = {Lioutikov, R. and Kroemer, O. and Maeda, G. and Peters, J.},
	Booktitle = {Proceedings of the 13th International Conference on Intelligent Autonomous Systems (IAS)},
	Crossref = {p10712},
	Title = {Learning Manipulation by Sequencing Motor Primitives with a Two-Armed Robot},
	Year = {2014}}

@article{Muelling_IJRR_2013,
	Author = {Muelling, K. and Kober, J. and Kroemer, O. and Peters, J.},
	Booktitle = {International Journal of Robotics Research},
	Crossref = {p10589},
	Key = {gert},
	Number = {3},
	Pages = {263-279},
	Title = {Learning to Select and Generalize Striking Movements in Robot Table Tennis},
	Url = {28},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C28%1C%1C}}

@inproceedings{Daniel_ICRA_2013,
	Author = {Daniel, C. and Neumann, G. and Kroemer, O. and Peters, J.},
	Booktitle = {Proceedings of 2013 IEEE International Conference on Robotics and Automation },
	Crossref = {p10594},
	Key = {gert, complacs},
	Title = {Learning Sequential Motor Tasks},
	Url = {30},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C30%1C%1C}}

@inproceedings{Englert_ICRA_2013,
	Author = {Englert, P. and Paraschos, A. and Peters, J. and Deisenroth, M. P.},
	Booktitle = {Proceedings of 2013 IEEE International Conference on Robotics and Automation },
	Crossref = {p10595},
	Title = {Model-based Imitation Learning by Probabilistic Trajectory Matching},
	Url = {32},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C32%1C%1C}}

@inproceedings{Gopalan_ICRA_2013,
	Author = {Gopalan, N. and Deisenroth, M. P. and Peters, J.},
	Booktitle = {Proceedings of 2013 IEEE International Conference on Robotics and Automation },
	Crossref = {p10596},
	Title = {Feedback Error Learning for Rhythmic Motor Primitives},
	Url = {34},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C34%1C%1C}}

@article{Wang_IJRR_2013,
	Author = {Wang, Z. and Muelling, K. and Deisenroth, M. P. and Ben Amor, H. and Vogt, D. and Schoelkopf, B. and Peters, J.},
	Booktitle = {International Journal of Robotics Research},
	Crossref = {p10598},
	Number = {7},
	Pages = {841-858},
	Title = {Probabilistic Movement Modeling for Intention Inference in Human-Robot Interaction},
	Url = {36},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C36%1C%1C}}

@inproceedings{peters_ECML_2013,
	Author = {Peters, J. and Kober, J. and Muelling, K. and Kroemer, O. and Neumann, G.},
	Booktitle = {Proceedings of the European Conference on Machine Learning (ECML), Nectar Track},
	Crossref = {p10626},
	Title = {Towards Robot Skill Learning: From Simple Skills to Table Tennis},
	Url = {38},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C38%1C%1C}}

@article{Kober_IJRR_2013,
	Author = {Kober, J and Bagnell, D. and Peters, J.},
	Date-Modified = {2015-05-12 11:14:05 +0000},
	Journal = {International Journal of Robotics Research},
	Pages = {1238-1274},
	Title = {Reinforcement Learning in Robotics: A Survey},
	Url = {40},
	Volume = {11},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C40%1C%1C}}

@inproceedings{Kupcsik_AAAI_2013,
	Author = {Kupcsik, A.G. and Deisenroth, M.P. and Peters, J. and Neumann, G.},
	Booktitle = {Proceedings of the National Conference on Artificial Intelligence (AAAI)},
	Crossref = {p10615},
	Key = {gert, complacs},
	Title = {Data-Efficient Generalization of Robot Skills with Contextual Policy Search},
	Url = {42},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C42%1C%1C}}

@inproceedings{Bocsi_IJCNN_2013,
	Author = {Bocsi, B. and Csato, L. and Peters, J.},
	Booktitle = {Proceedings of the 2013 International Joint Conference on Neural Networks (IJCNN)},
	Crossref = {p10617},
	Title = {Alignment-based Transfer Learning for Robot Models},
	Url = {44},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C44%1C%1C}}

@inproceedings{Daniel_PIJCNN_2013,
	Author = {Daniel, C. and Neumann, G. and Peters, J.},
	Booktitle = {Proceedings of the 2013 International Joint Conference on Neural Networks (IJCNN)},
	Crossref = {p10618},
	Key = {gert, complacs},
	Title = {Autonomous Reinforcement Learning with Hierarchical REPS},
	Year = {2013}}

@article{Englert_ABJ_2013,
	Author = {Englert, P. and Paraschos, A. and Peters, J. and Deisenroth, M.P.},
	Booktitle = {Adaptive Behavior Journal},
	Crossref = {p10620},
	Pages = {388-403},
	Title = {Probabilistic Model-based Imitation Learning},
	Url = {46},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C46%1C%1C}}

@inproceedings{Peters_PYLW_2013,
	Author = {Peters, J. and Kober, J. and Muelling, K. and Nguyen-Tuong, D. and Kroemer, O.},
	Booktitle = {Proceedings of the 16th Yale Learning Workshop},
	Crossref = {p10621},
	Title = {Learning Skills with Motor Primitives},
	Year = {2013}}

@inproceedings{Neumann_PAWIRS_2013,
	Author = {Neumann, G. and Kupcsik, A.G. and Deisenroth, M.P. and Peters, J.},
	Booktitle = {Proceedings of the AAAI 2013 Workshop on Intelligent Robotic Systems},
	Crossref = {p10622},
	Key = {complacs},
	Title = {Information-Theoretic Motor Skill Learning},
	Year = {2013}}

@inproceedings{iros2013Heni,
	Author = {Ben Amor, H. and Vogt, D. and Ewerton, M. and Berger, E. and Jung, B. and Peters, J.},
	Booktitle = {Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	Crossref = {p10627},
	Key = {codyco},
	Title = {Learning Responsive Robot Behavior by Imitation},
	Url = {48},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C48%1C%1C}}

@article{PolicySearchReview,
	Author = {Deisenroth, M. P. and Neumann, G. and Peters, J.},
	Booktitle = {Foundations and Trends in Robotics},
	Crossref = {p10628},
	Key = {complacs},
	Pages = {388-403},
	Title = {A Survey on Policy Search for Robotics},
	Url = {50},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C50%1C%1C}}

@inproceedings{hoofHUMANOIDS,
	Author = {van Hoof, H. and Kroemer, O and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Humanoid Robots },
	Crossref = {p10640},
	Key = {gert, complacs},
	Title = {Probabilistic Interactive Segmentation for Anthropomorphic Robots in Cluttered Environments},
	Url = {52},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C52%1C%1C}}

@inproceedings{Paraschos_Humanoids_2013,
	Author = {Paraschos, A. and Neumann, G and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Humanoid Robots },
	Crossref = {p10641},
	Key = {codyco, complacs},
	Title = {A Probabilistic Approach to Robot Trajectory Generation},
	Url = {54},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C54%1C%1C}}

@inproceedings{humanoids2013Heni,
	Author = {Berger, E. and Vogt, D. and Haji-Ghassemi, N. and Jung, B. and Ben Amor, H.},
	Booktitle = {Proceedings of the International Conference on Humanoid Robots },
	Crossref = {p10642},
	Key = {codyco},
	Title = {Inferring Guidance Information in Cooperative Human-Robot Tasks},
	Url = {56},
	Year = {2013},
	Bdsk-Url-1 = {%1C%1C56%1C%1C}}

@inproceedings{Paraschos_NIPS_2013,
	Author = {Paraschos, A. and Daniel, C. and Peters, J. and Neumann, G},
	Booktitle = {Advances in Neural Information Processing Systems (NIPS), Cambridge, MA: MIT Press.},
	Key = {codyco, complacs},
	Title = {Probabilistic Movement Primitives},
	Year = {2013}}

@inbook{Sigaud_ESLSV_2012,
	Author = {Sigaud, O. and Peters, J.},
	Booktitle = {Encyclopedia of the Sciences of Learning, Springer Verlag},
	Crossref = {p10321},
	Publisher = {seel, norbert m.},
	Title = {Robot Learning},
	Url = {60},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C60%1C%1C}}

@article{rtblobjrtip2010_66510,
	Author = {Lampert, C.H. and Peters, J.},
	Booktitle = {Journal of Real-Time Image Processing},
	Crossref = {p10375},
	Number = {1},
	Pages = {31-41},
	Title = {Real-Time Detection of Colored Objects In Multiple Camera Streams With Off-the-Shelf Hardware Components},
	Url = {62},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C62%1C%1C}}

@inproceedings{DanielAISTATS2012,
	Author = {Daniel, C. and Neumann, G. and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Artificial Intelligence and Statistics (AISTATS 2012)},
	Crossref = {p10509},
	Key = {gert, complacs},
	Title = {Hierarchical Relative Entropy Policy Search},
	Url = {64},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C64%1C%1C}}

@article{Deisenroth_ITAC_2012,
	Author = {Deisenroth, M.P. and Turner, R. and Huber, M. and Hanebeck, U.D. and Rasmussen, C.E},
	Booktitle = {IEEE Transactions on Automatic Control},
	Crossref = {p10510},
	Key = {gaussian process, filtering, smoothing},
	Title = {Robust Filtering and Smoothing with Gaussian Processes},
	Url = {66},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C66%1C%1C}}

@inproceedings{Kroemer_ICRA_2012,
	Author = {Kroemer, O. and Ugur, E. and Oztop, E. and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Robotics and Automation },
	Crossref = {p10517},
	Key = {gert},
	Title = {A Kernel-based Approach to Direct Action Perception},
	Url = {68},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C68%1C%1C}}

@inproceedings{Bocsi_ICRA_2012,
	Author = {Bocsi, B. and Hennig, P. and Csato, L. and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Robotics and Automation },
	Crossref = {p10518},
	Title = {Learning Tracking Control with Forward Models},
	Url = {70},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C70%1C%1C}}

@article{kober_auro2012,
	Author = {Kober, J. and Wilhelm, A. and Oztop, E. and Peters, J.},
	Booktitle = {Autonomous Robots},
	Crossref = {p10536},
	Isbn/Issn = {0929-5593},
	Key = {skill learning and motor primitives and reinforcement learning and meta-parameters and policy learning},
	Number = {4},
	Pages = {361-379},
	Publisher = {springer us},
	Title = {Reinforcement Learning to Adjust Parametrized Motor Primitives to New Situations},
	Url = {72},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C72%1C%1C}}

@article{920121,
	Author = {Vitzthum, A. and Ben Amor, H. and Heumer, G. and Jung, B.},
	Booktitle = {Journal of Virtual Reality and Broadcasting},
	Crossref = {p10539},
	Number = {1},
	Title = {XSAMPL3D - An Action Description Language for the Animation of Virtual Characters},
	Url = {74},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C74%1C%1C}}

@inproceedings{Wang_RSS_2012,
	Author = {Wang, Z. and Deisenroth, M and Ben Amor, H. and Vogt, D. and Schoelkopf, B. and Peters, J.},
	Booktitle = {Proceedings of Robotics: Science and Systems (R:SS)},
	Crossref = {p10545},
	Title = {Probabilistic Modeling of Human Movements for Intention Inference},
	Url = {76},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C76%1C%1C}}

@article{NguyenTuong_TNN_2012,
	Author = {Nguyen-Tuong, D. and Peters, J.},
	Booktitle = {IEEE Transactions on Neural Networks and Learning Systems},
	Crossref = {p10548},
	Number = {9},
	Pages = {1417-1425},
	Title = {Online Kernel-based Learning for Task-Space Tracking Robot Control},
	Url = {78},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C78%1C%1C}}

@inproceedings{Deisenroth_NIPS_2012,
	Author = {Deisenroth, M.P. and Mohamed, S.},
	Booktitle = {Advances in Neural Information Processing Systems 26 (NIPS), Cambridge, MA: MIT Press.},
	Crossref = {p10583},
	Publisher = {the mit press},
	Title = {Expectation Propagation in Gaussian Process Dynamical Systems},
	Url = {80},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C80%1C%1C}}

@inproceedings{peters_ECAI2012,
	Author = {Peters, J. and Kober, J. and Muelling, K. and Nguyen-Tuong, D. and Kroemer, O.},
	Booktitle = {Proceedings of the European Conference on Artificial Intelligence (ECAI)},
	Crossref = {p10550},
	Key = {gert},
	Title = {Robot Skill Learning},
	Url = {82},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C82%1C%1C}}

@inproceedings{Boularias_ECML_2012,
	Author = {Boularias, A. and Kroemer, O. and Peters, J.},
	Booktitle = {Proceedings of the European Conference on Machine Learning (ECML)},
	Crossref = {p10551},
	Key = {gert},
	Title = {Structured Apprenticeship Learning},
	Url = {84},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C84%1C%1C}}

@inproceedings{Meyer_IROS_2012,
	Author = {Meyer, T. and Peters, J. and Broetz, D. and Zander, T. and Schoelkopf, B. and Soekadar, S. and Grosse-Wentrup, M.},
	Booktitle = {Proceedings of the International Conference on Robot Systems (IROS)},
	Crossref = {p10552},
	Title = {A Brain-Robot Interface for Studying Motor Learning after Stroke},
	Url = {86},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C86%1C%1C}}

@inproceedings{Deisenroth_IROS_2012,
	Author = {Deisenroth, M.P. and Calandra, R. and Seyfarth, A. and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Robot Systems (IROS)},
	Crossref = {p10553},
	Key = {legged locomotion, policy search, reinforcement learning, gaussian process},
	Title = {Toward Fast Policy Search for Learning Legged Locomotion},
	Url = {88},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C88%1C%1C}}

@inproceedings{VanHoof_IROS_2012,
	Author = {van Hoof, H. and Kroemer, O. and Ben Amor, H. and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Robot Systems (IROS)},
	Crossref = {p10554},
	Key = {gert},
	Title = {Maximally Informative Interaction Learning for Scene Exploration},
	Url = {90},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C90%1C%1C}}

@inproceedings{Daniel_IROS_2012,
	Author = {Daniel, C. and Neumann, G. and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Robot Systems (IROS)},
	Crossref = {p10555},
	Key = {gert, complacs},
	Title = {Learning Concurrent Motor Skills in Versatile Solution Spaces},
	Url = {92},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C92%1C%1C}}

@inproceedings{BenAmor_IROS_2012,
	Author = {Ben Amor, H. and Kroemer, O. and Hillenbrand, U. and Neumann, G. and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Robot Systems (IROS)},
	Crossref = {p10556},
	Key = {gert},
	Title = {Generalization of Human Grasping for Multi-Fingered Robot Hands},
	Url = {94},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C94%1C%1C}}

@inproceedings{Kober_IROS_2012,
	Author = {Kober, J and Muelling, K. and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Robot Systems (IROS), Video Track},
	Crossref = {p10557},
	Title = {Learning Throwing and Catching Skills},
	Url = {96},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C96%1C%1C}}

@inproceedings{Deisenroth_PEWRL_2012,
	Author = {Deisenroth, M.P. and Peters, J.},
	Booktitle = {Proceedings of the European Workshop on Reinforcement Learning (EWRL)},
	Crossref = {p10559},
	Title = {Solving Nonlinear Continuous State-Action-Observation POMDPs for Mechanical Systems with Gaussian Noise},
	Year = {2012}}

@inproceedings{aaaifss12rliht_submission_2,
	Author = {Muelling, K. and Kober, J. and Kroemer, O. and Peters, J.},
	Booktitle = {Proceedings of the AAAI 2012 Fall Symposium on Robots that Learn Interactively from Human Teachers},
	Crossref = {p10561},
	Title = {Learning to Select and Generalize Striking Movements in Robot Table Tennis},
	Url = {98},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C98%1C%1C}}

@inproceedings{calandra_icann2012,
	Author = {Calandra, R. and Raiko, T. and Deisenroth, M.P. and Montesino Pouzols, F.},
	Booktitle = {International Conference on Artificial Neural Networks (ICANN)},
	Crossref = {p10563},
	Key = {deep learning, non-stationary data},
	Title = {Learning Deep Belief Networks from Non-Stationary Streams},
	Url = {100},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C100%1C%1C}}

@inproceedings{Meyer_ICN_2012,
	Author = {Meyer, T. and Peters, J. and Broetz, D. and Zander, T. and Schoelkopf, B. and Soekadar, S. and Grosse-Wentrup, M.},
	Booktitle = {International Conference on Neurorehabilitation},
	Crossref = {p10580},
	Title = {Investigating the Neural Basis for Stroke Rehabilitation by Brain-Computer Interfaces},
	Year = {2012}}

@inproceedings{Kroemer_Humanoids_2012,
	Author = {Kroemer, O. and Ben Amor, H. and Ewerton, M. and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Humanoid Robots },
	Crossref = {p10581},
	Key = {gert},
	Title = {Point Cloud Completion Using Symmetries and Extrusions},
	Url = {102},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C102%1C%1C}}

@inproceedings{Boularias_NIPS_2012,
	Author = {Boularias, A. and Kroemer, O. and Peters, J.},
	Booktitle = {Advances in Neural Information Processing Systems 26 (NIPS 2012), Cambridge, MA: MIT Press.},
	Crossref = {p10582},
	Key = {gert},
	Title = {Algorithms for Learning Markov Field Policies},
	Url = {104},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C104%1C%1C}}

@book{Deisenroth_EWRLproceedings_2012,
	Author = {Deisenroth M. P. and Szepesvari C. and Peters J.},
	Booktitle = {Proceedings of the 10th European Workshop on Reinforcement Learning},
	Crossref = {p10597},
	Url = {106},
	Year = {2012},
	Bdsk-Url-1 = {%1C%1C106%1C%1C}}

@article{Piater_IJRR_2010,
	Author = {Piater, J. and Jodogne, S. and Detry, R. and Kraft, D. and Krueger, N. and Kroemer, O. and Peters, J.},
	Booktitle = {International Journal of Robotics Research},
	Crossref = {p10352},
	Number = {3},
	Pages = {294-307},
	Title = {Learning Visual Representations for Perception-Action Systems},
	Url = {108},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C108%1C%1C}}

@article{Detry_PJBR_2011,
	Author = {Detry, R. and Kraft, D. and Kroemer, O. and Peters, J. and Krueger, N. and Piater, J. and},
	Booktitle = {Paladyn Journal of Behavioral Robotics},
	Crossref = {p10353},
	Number = {1},
	Pages = {1-17},
	Title = {Learning Grasp Affordance Densities},
	Url = {110},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C110%1C%1C}}

@article{kober_MACH_2011,
	Author = {Kober, J. and Peters, J.},
	Booktitle = {Machine Learning},
	Crossref = {p10355},
	Number = {1-2},
	Pages = {171-203},
	Title = {Policy Search for Motor Primitives in Robotics},
	Url = {112},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C112%1C%1C}}

@article{Nguyen_NEURO_2011,
	Author = {Nguyen-Tuong, D. and Peters, J.},
	Booktitle = {Neurocomputing},
	Crossref = {p10356},
	Number = {11},
	Pages = {1859-1867},
	Title = {Incremental Sparsification for Real-time Online Model Learning},
	Url = {114},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C114%1C%1C}}

@article{GomezRodriguezJNE2011,
	Author = {Gomez-Rodriguez, M. and Peters, J. and Hill, J. and Schoelkopf, B. and Gharabaghi, A. and Grosse-Wentrup, M.},
	Booktitle = {Journal of Neuroengineering},
	Crossref = {p10451},
	Number = {3},
	Title = {Closing the Sensorimotor Loop: Haptic Feedback Helps Decoding of Motor Imagery},
	Url = {116},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C116%1C%1C}}

@inproceedings{Lampariello_ICRA_2011,
	Author = {Lampariello, R. and Nguyen-Tuong, D. and Castellini, C. and Hirzinger, G. and Peters, J.},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation },
	Crossref = {p10398},
	Title = {Energy-optimal robot catching in real-time},
	Url = {118},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C118%1C%1C}}

@inproceedings{Kroemer_ICRA_2011,
	Author = {Kroemer, O. and Peters, J.},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation },
	Crossref = {p10399},
	Key = {gert},
	Title = {A Flexible Hybrid Framework for Modeling Complex Manipulation Tasks},
	Url = {120},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C120%1C%1C}}

@inproceedings{Kroemer_ADPRL_2011,
	Author = {Kroemer, O. and Peters, J.},
	Booktitle = {Proceedings of the 2011 IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning (ADPRL)},
	Crossref = {p10402},
	Key = {gert},
	Title = {Active Exploration for Robot Parameter Selection in Episodic Reinforcement Learning},
	Url = {122},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C122%1C%1C}}

@article{Kroemer_TRo_2011,
	Author = {Kroemer, O. and Lampert, C.H. and Peters, J.},
	Booktitle = {IEEE Transactions on Robotics (T-Ro)},
	Crossref = {p10403},
	Number = {3},
	Pages = {545-557},
	Title = {Learning Dynamic Tactile Sensing with Robust Vision-based Training},
	Url = {124},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C124%1C%1C}}

@inproceedings{Boularias_IROS_2011,
	Author = {Boularias, A. and Kroemer, O. and Peters, J.},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robot Systems (IROS)},
	Crossref = {p10474},
	Key = {gert},
	Title = {Learning Robot Grasping from 3D Images with Markov Random Fields},
	Url = {126},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C126%1C%1C}}

@inproceedings{Kroemer2011NIPS,
	Author = {Kroemer, O. and Peters, J.},
	Booktitle = {Advances in Neural Information Processing Systems 25 (NIPS 2011), Cambridge, MA: MIT Press.},
	Crossref = {p10475},
	Key = {gert},
	Title = {A Non-Parametric Approach to Dynamic Programming},
	Url = {128},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C128%1C%1C}}

@inproceedings{VanHoof_BNAIC_2011,
	Author = {van Hoof, H. and van der Zant, T. and Wiering, M.A.},
	Booktitle = {Proceedings of the Belgian-Dutch Artificial Intelligence Conference (BNAIC 11)},
	Crossref = {p10483},
	Title = {Adaptive Visual Face Tracking for an Autonomous Robot},
	Url = {130},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C130%1C%1C}}

@article{Muelling_ABJ2011,
	Author = {Muelling, K. and Kober, J. and Peters, J.},
	Booktitle = {Adaptive Behavior Journal},
	Crossref = {p10469},
	Number = {5},
	Title = {A Biomimetic Approach to Robot Table Tennis},
	Url = {132},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C132%1C%1C}}

@inproceedings{Bocsi_IROS_2011,
	Author = {Bocsi, B. and Nguyen-Tuong, D and Csato, L and Schoelkopf, B. and Peters, J.},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robot Systems (IROS)},
	Crossref = {p10470},
	Title = {Learning Inverse Kinematics with Structured Prediction},
	Url = {134},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C134%1C%1C}}

@inproceedings{Wang_IROS_2011,
	Author = {Wang, Z. and Lampert, C and Muelling, K and Schoelkopf, B. and Peters, J.},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robot Systems (IROS)},
	Crossref = {p10471},
	Title = {Learning Anticipation Policies for Robot Table Tennis},
	Url = {136},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C136%1C%1C}}

@inproceedings{Nguyen_IROS_2011,
	Author = {Nguyen-Tuong, D. and Peters, J.},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robot Systems (IROS)},
	Crossref = {p10472},
	Title = {Learning Task-Space Tracking Control with Kernels},
	Url = {138},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C138%1C%1C}}

@inproceedings{Kober_IROS_2011,
	Author = {Kober, J. and Peters, J.},
	Booktitle = {IEEE/RSJ International Conference on Intelligent Robot Systems (IROS)},
	Crossref = {p10473},
	Title = {Learning Elementary Movements Jointly with a Higher Level Task},
	Url = {140},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C140%1C%1C}}

@inproceedings{Gomez_ICORR_2011,
	Author = {Gomez-Rodriguez, M. and Grosse-Wentrup, M. and Hill, J. and Schoelkopf, B. and Gharabaghi, A. and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Rehabilitation Robotics (ICORR)},
	Crossref = {p10464},
	Title = {Towards Brain-Robot Interfaces for Stroke Rehabilitation},
	Url = {142},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C142%1C%1C}}

@inproceedings{Wang_AAAI_2011,
	Author = {Wang, Z. and Boularias, A. and Muelling, K. and Peters, J.},
	Booktitle = {Proceedings of the Twenty-Fifth National Conference on Artificial Intelligence (AAAI)},
	Crossref = {p10465},
	Key = {gert},
	Title = {Balancing Safety and Exploitability in Opponent Modeling},
	Url = {144},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C144%1C%1C}}

@article{Hachiya_NC2011,
	Author = {Hachiya, H. and Peters, j. and Sugiyama, M.},
	Booktitle = {Neural Computation},
	Crossref = {p10466},
	Number = {11},
	Title = {Reward Weighted Regression with Sample Reuse for Direct Policy Search in Reinforcement Learning},
	Url = {146},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C146%1C%1C}}

@article{Nguyen_CP_2011,
	Author = {Nguyen-Tuong, D. and Peters, J.},
	Booktitle = {Cognitive Processing},
	Crossref = {p10461},
	Number = {4},
	Title = {Model Learning in Robotics: a Survey},
	Url = {148},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C148%1C%1C}}

@inproceedings{Kober_IJCAI_2011,
	Author = {Kober, J. and Oztop, E. and Peters, J.},
	Booktitle = {Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), Best Paper Track},
	Crossref = {p10462},
	Title = {Reinforcement Learning to adjust Robot Movements to New Situations},
	Url = {150},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C150%1C%1C}}

@inproceedings{boularias11a,
	Author = {Boularias, A. and Kober, J. and Peters, J.},
	Booktitle = {Proceedings of Fourteenth International Conference on Artificial Intelligence and Statistics (AISTATS 2011)},
	Crossref = {p10463},
	Key = {gert},
	Title = {Relative Entropy Inverse Reinforcement Learning},
	Url = {152},
	Year = {2011},
	Bdsk-Url-1 = {%1C%1C152%1C%1C}}

@article{jzp049v1_58790,
	Author = {Wierstra, D. and Foerster, A. and Peters, J. and Schmidhuber, J.},
	Booktitle = {Logic Journal of the IGPL},
	Crossref = {p10217},
	Pages = {620-634},
	Title = {Recurrent Policy Gradients},
	Url = {154},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C154%1C%1C}}

@inproceedings{RSS2010Kober_64380,
	Author = {Kober, J. and Oztop, E. and Peters, J.},
	Booktitle = {Proceedings of Robotics: Science and Systems (R:SS)},
	Crossref = {p10363},
	Title = {Reinforcement Learning to adjust Robot Movements to New Situations},
	Url = {156},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C156%1C%1C}}

@inproceedings{SAB2010Kroemer_64370,
	Author = {Kroemer, O. and Detry, R. and Piater, J. and Peters, J.},
	Booktitle = {From Animals to Animats 11, International Conference on the Simulation of Adaptive Behavior (SAB)},
	Crossref = {p10364},
	Key = {gert},
	Title = {Adapting Preshaped Grasping Movements using Vision Descriptors},
	Url = {158},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C158%1C%1C}}

@inproceedings{ICINCO2010Kroemer_64360,
	Author = {Kroemer, O. and Detry, R. and Piater, J. and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Informatics in Control, Automation and Robotics (ICINCO)},
	Crossref = {p10365},
	Key = {gert},
	Title = {Grasping with Vision Descriptors and Motor Primitives},
	Url = {160},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C160%1C%1C}}

@inproceedings{SAB2010Muelling_66260,
	Author = {Muelling, K. and Kober, J. and Peters, J.},
	Booktitle = {From Animals to Animats 11, International Conference on the Simulation of Adaptive Behavior (SAB)},
	Crossref = {p10366},
	Title = {Simulating Human Table Tennis with a Biomimetic Robot Setup},
	Url = {162},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C162%1C%1C}}

@inproceedings{AISTATS2010NguyenTuong_0,
	Author = {Nguyen-Tuong, D. and Peters, J.},
	Booktitle = {Proceedings of Thirteenth International Conference on Artificial Intelligence and Statistics (AISTATS 2010)},
	Crossref = {p10350},
	Title = {Incremental Sparsification for Real-time Online Model Learning},
	Url = {164},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C164%1C%1C}}

@article{kober_RAM_2010,
	Author = {Kober, J. and Peters, J.},
	Booktitle = {IEEE Robotics and Automation Magazine},
	Crossref = {p10351},
	Number = {2},
	Pages = {55-62},
	Title = {Imitation and Reinforcement Learning - Practical Algorithms for Motor Primitive Learning in Robotics},
	Url = {166},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C166%1C%1C}}

@article{KroemerJRAS_66360,
	Author = {Kroemer, O. and Detry, R. and Piater, J. and Peters, J.},
	Booktitle = {Robotics and Autonomous Systems},
	Crossref = {p10357},
	Key = {gert},
	Number = {9},
	Pages = {1105-1116},
	Title = {Combining Active Learning and Reactive Control for Robot Grasping},
	Url = {168},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C168%1C%1C}}

@inbook{LGP_IROS_Chapter_62330,
	Author = {Nguyen-Tuong, D. and Seeger, M. and Peters, J.},
	Booktitle = {From Motor Learning to Interaction Learning in Robots, Springer Verlag},
	Crossref = {p10317},
	Number = {264},
	Title = {Real-Time Local GP Model Learning},
	Url = {170},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C170%1C%1C}}

@inbook{EncyclopediaMachineLearningPetersRobotLearning_0,
	Author = {Peters, J. and Tedrake, R. and Roy, N. and Morimoto, J.},
	Booktitle = {Encyclopedia of Machine Learning},
	Crossref = {p10318},
	Title = {Robot Learning},
	Url = {172},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C172%1C%1C}}

@book{9783642051814,
	Author = {Sigaud, O. and Peters, J.},
	Booktitle = {Studies in Computational Intelligence, Springer Verlag},
	Crossref = {p10319},
	Number = {264},
	Title = {From Motor Learning to Interaction Learning in Robots},
	Url = {174},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C174%1C%1C}}

@inbook{Imitation20and20Reinforcement20Learning20for20Motor20Primitives20with20Perceptual20Coupling_62340,
	Author = {Kober,J. and Mohler, B. and Peters, J.},
	Booktitle = {From Motor Learning to Interaction Learning in Robots, Springer Verlag},
	Crossref = {p10320},
	Title = {Imitation and Reinforcement Learning for Motor Primitives with Perceptual Coupling},
	Url = {176},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C176%1C%1C}}

@inproceedings{Peters2010_REPS,
	Author = {Peters, J. and Muelling, K. and Altun, Y.},
	Booktitle = {Proceedings of the Twenty-Fourth National Conference on Arti&#64257;cial Intelligence (AAAI), Physically Grounded AI Track},
	Crossref = {p10362},
	Title = {Relative Entropy Policy Search},
	Url = {178},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C178%1C%1C}}

@inproceedings{ICRA2010Kober_62311,
	Author = {Kober,J. and Muelling,K. and Kroemer, O. and Lampert,C.H. and Schoelkopf, B. and Peters, J.},
	Booktitle = {IEEE International Conference on Robotics and Automation },
	Crossref = {p10314},
	Title = {Movement Templates for Learning of Hitting and Batting},
	Url = {180},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C180%1C%1C}}

@inproceedings{ICRA2010NguyenTuong_62320,
	Author = {Nguyen-Tuong, D. and Peters, J.},
	Booktitle = {IEEE International Conference on Robotics and Automation},
	Crossref = {p10315},
	Title = {Using Model Knowledge for Learning Inverse Dynamics},
	Url = {182},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C182%1C%1C}}

@article{NeuralNetworks2010Sehnke_0,
	Author = {Sehnke, F. and Osendorfer, C. and Rueckstiess, T. and Graves, A. and Peters, J. and Schmidhuber, J.},
	Booktitle = {Neural Networks},
	Crossref = {p10311},
	Title = {Parameter-exploring Policy Gradients},
	Url = {184},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C184%1C%1C}}

@inbook{Peters_EOMLA_submitted,
	Author = {Peters, J. and Bagnell, J.A.},
	Booktitle = {Encyclopedia of Machine Learning (invited article)},
	Crossref = {p10302},
	Title = {Policy gradient methods},
	Url = {186},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C186%1C%1C}}

@article{Morimura_NC_2010,
	Author = {Morimura, T. and Uchibe, E. and Yoshimoto, J. and Peters, J. and Doya, K.},
	Booktitle = {Neural Computation},
	Crossref = {p10297},
	Number = {2},
	Title = {Derivatives of Logarithmic Stationary Distributions for Policy Gradient Reinforcement Learning},
	Url = {188},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C188%1C%1C}}

@inbook{Detry2010MotorInteractionLearning_0,
	Author = {Detry,R. and Baseski, E. and Popovic, M. and Touati, Y. and Krueger, N. and Kroemer, O. and Peters, J. and Piater, J.},
	Booktitle = {From Motor Learning to Interaction Learning in Robots, Springer Verlag},
	Crossref = {p10326},
	Number = {264},
	Title = {Learning Continuous Grasp Affordances by Sensorimotor Exploration},
	Url = {190},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C190%1C%1C}}

@inproceedings{erkan_IROS_2010,
	Author = {Erkan,A.: Kroemer,O. and Detry,R. and Altun,Y. and Piater,J. and Peters,J.},
	Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	Crossref = {p10370},
	Key = {gert},
	Title = {Learning Probabilistic Discriminative Models of Grasp Affordances under Limited Supervision},
	Url = {192},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C192%1C%1C}}

@inproceedings{ICPRWBD2010GomezRodriguez_0,
	Author = {Gomez-Rodriguez, M. and Grosse-Wentrup, M. and Peters, J. and Naros, G. and Hill, J. and Gharabaghi, A. and Schoelkopf, B.},
	Booktitle = {1st ICPR Workshop on Brain Decoding: Pattern Recognition Challenges in Neuroimaging},
	Crossref = {p10372},
	Title = {Epidural ECoG Online Decoding of Arm Movement Intention in Hemiparesis},
	Url = {196},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C196%1C%1C}}

@inproceedings{eegsmc2010_65910,
	Author = {Gomez-Rodriguez, M. and Peters, J. and Hill, J. and Schoelkopf, B. and Gharabaghi, A. and Grosse-Wentrup, M.},
	Booktitle = {Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics (Workshop on Brain-Machine Interfaces)},
	Crossref = {p10373},
	Title = {Closing the Sensorimotor Loop: Haptic Feedback Facilitates Decoding of Arm Movement Imagery},
	Url = {198},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C198%1C%1C}}

@inproceedings{lamperteccv2010,
	Author = {Lampert, C. H. and Kroemer, O.},
	Booktitle = {Proceedings of the 11th European Conference on Computer Vision (ECCV 2010)},
	Crossref = {p10389},
	Title = {Weakly-Paired Maximum Covariance Analysis for Multimodal Dimensionality Reduction and Transfer Learning},
	Url = {202},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C202%1C%1C}}

@inproceedings{Chiappa_NIPS_2011,
	Author = {Chiappa, S. and Peters, J.},
	Booktitle = {Advances in Neural Information Processing Systems 24 (NIPS 2010), Cambridge, MA: MIT Press},
	Crossref = {p10390},
	Title = {Movement extraction by detecting dynamics switches and	repetitions},
	Url = {204},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C204%1C%1C}}

@inproceedings{Alvarez_NIPS_2011,
	Author = {Alvaro, M. and Peters, J. and Schoelfkopf, B. and Lawrence, N.},
	Booktitle = {Advances in Neural Information Processing Systems 24 (NIPS 2010), Cambridge, MA: MIT Press},
	Crossref = {p10391},
	Title = {Switched Latent Force Models for Movement Segmentation},
	Url = {206},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C206%1C%1C}}

@article{Peters_A_2010,
	Author = {Peters, J. and Kober, J. and Schaal, S.},
	Booktitle = {Automatisierungstechnik},
	Crossref = {p10417},
	Key = {reinforcement leanring, motor skills},
	Number = {12},
	Pages = {688-694},
	Title = {Policy learning algorithmis for motor learning (Algorithmen zum automatischen Erlernen von Motorfaehigkigkeiten)},
	Url = {208},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C208%1C%1C}}

@inproceedings{Muelling_ICHR_2012,
	Author = {Muelling, K. and Kober, J. and Peters, J.},
	Booktitle = {10th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010)},
	Crossref = {p10560},
	Title = {Learning Table Tennis with a Mixture of Motor Primitives},
	Url = {210},
	Year = {2010},
	Bdsk-Url-1 = {%1C%1C210%1C%1C}}

@inproceedings{Peters_ISER_2010,
	Author = {Peters, J. and Muelling, K. and Kober, J.},
	Booktitle = {12th International Symposium on Experimental Robotics (ISER 2010)},
	Crossref = {p10562},
	Title = {Experiments with Motor Primitives to learn Table Tennis},
	Year = {2010}}

@inproceedings{hachiya_ECML2009,
	Author = {Hachiya, H. and Peters, J. and Sugiyama, M.},
	Booktitle = {Proceedings of the 16th European Conference on Machine Learning (ECML 2009)},
	Crossref = {p10298},
	Title = {Efficient Sample Reuse in EM-based Policy Search},
	Url = {212},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C212%1C%1C}}

@inproceedings{Peters_ISRR2009,
	Author = {Peters, J. and Kober, J. and Muelling, K. and Nguyen-Tuong, D. and Kroemer, O.},
	Booktitle = {Proceedings of the International Symposium on Robotics Research (ISRR), Invited Paper},
	Crossref = {p10300},
	Title = {Towards Motor Skill Learning for Robotics},
	Url = {214},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C214%1C%1C}}

@inproceedings{nguyen_NIPS2008,
	Author = {Nguyen-Tuong, D. and Seeger, M. and Peters, J.},
	Booktitle = {Advances in Neural Information Processing Systems 22 (NIPS 2008), Cambridge, MA: MIT Press},
	Crossref = {p10194},
	Title = {Local Gaussian Process Regression for Real Time Online Model Learning and Control},
	Url = {216},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C216%1C%1C}}

@inproceedings{neumann_NIPS2008,
	Author = {Neumann, G. and Peters, J.},
	Booktitle = {Advances in Neural Information Processing Systems 22 (NIPS 2008), Cambridge, MA: MIT Press},
	Crossref = {p10196},
	Title = {Fitted Q-iteration by Advantage Weighted Regression},
	Url = {218},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C218%1C%1C}}

@article{hachiyaAdaptiveImportanceSampling_55300,
	Author = {Hachiya,H. and Akiyama, T. and Sugiyama, M. and Peters, J.},
	Booktitle = {Neural Networks},
	Crossref = {p10198},
	Key = {off-policy reinforcement learning and value function approximation and policy iteration and adaptive importance sampling and importance-weighted cross-validation and efficient sample reuse},
	Number = {10},
	Pages = {1399-1410},
	Title = {Adaptive Importance Sampling for Value Function Approximation in Off-policy Reinforcement Learning},
	Url = {220},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C220%1C%1C}}

@inproceedings{kober_NIPS2008,
	Author = {Kober, J. and Peters, J.},
	Booktitle = {Advances in Neural Information Processing Systems 22 (NIPS 2008), Cambridge, MA: MIT Press},
	Crossref = {p10192},
	Title = {Policy Search for Motor Primitives in Robotics},
	Url = {222},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C222%1C%1C}}

@inproceedings{chiappa_NIPS2008,
	Author = {Chiappa, S. and Kober, J. and Peters, J.},
	Booktitle = {Advances in Neural Information Processing Systems 22 (NIPS 2008), Cambridge, MA: MIT Press},
	Crossref = {p10193},
	Title = {Using Bayesian Dynamical Systems for Motion Template Libraries},
	Url = {224},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C224%1C%1C}}

@article{Neurocomputing2009DeisenrothPreprint_55310,
	Author = {Deisenroth, M.P. and Rasmussen, C.E. and Peters, J.},
	Booktitle = {Neurocomputing},
	Crossref = {p10200},
	Number = {72},
	Pages = {1508-1524},
	Title = {Gaussian Process Dynamic Programming},
	Url = {226},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C226%1C%1C}}

@inproceedings{AIStats2009Hoffman_56580,
	Author = {Hoffman, M. and de Freitas, N. and Doucet, A. and Peters, J.},
	Booktitle = {Proceedings of the Twelfth International Conference on Artificial Intelligence and Statistics (AIStats)},
	Crossref = {p10204},
	Title = {An Expectation Maximization Algorithm for Continuous Markov Decision Processes with Arbitrary Reward},
	Url = {228},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C228%1C%1C}}

@inproceedings{peters_ADPRL_2009,
	Author = {Peters, J. and Kober, J.},
	Booktitle = {Proceedings of the 2009 IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning.},
	Crossref = {p10205},
	Title = {Using Reward-Weighted Imitation for Robot Reinforcement Learning},
	Url = {230},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C230%1C%1C}}

@inproceedings{ADPRL2009Hachiya_0,
	Author = {Hachiya, H. and Akiyama, T. and Sugiyama, M. and Peters, J.},
	Booktitle = {Proceedings of the 2009 IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning.},
	Crossref = {p10206},
	Title = {Efficient Data Reuse in Value Function Approximation},
	Url = {232},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C232%1C%1C}}

@inproceedings{ICRA2009Kober_56610,
	Author = {Kober, J. and Peters, J.},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation },
	Crossref = {p10207},
	Title = {Learning Motor Primitives for Robotics},
	Url = {234},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C234%1C%1C}}

@inproceedings{Piater_POTISORRIP_2009,
	Author = {Piater, J. and Jodogne, S. and Detry, R. and Kraft, D. and Krueger, N. and Kroemer, O. and Peters, J.},
	Booktitle = {Proceedings of the International Symposium on Robotics Research (ISRR), Invited Paper},
	Crossref = {p10299},
	Title = {Learning Visual Representations for Interactive Systems},
	Url = {236},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C236%1C%1C}}

@inproceedings{paper_16,
	Author = {Kober, J. and Peters, J.},
	Booktitle = {Proceedings of Autonome Mobile Systeme (AMS 2009)},
	Crossref = {p10322},
	Title = {Learning new basic Movements for Robotics},
	Url = {238},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C238%1C%1C}}

@inproceedings{paper_10,
	Author = {Muelling, K. and Peters, J.},
	Booktitle = {Proceedings of Autonome Mobile Systeme (AMS 2009)},
	Crossref = {p10323},
	Title = {A computational model of human table tennis for robot application},
	Url = {240},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C240%1C%1C}}

@inproceedings{kroemer_IROS_2009,
	Author = {Kroemer, O. and Detry, R. and Piater, J. and Peters, J.},
	Booktitle = {Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)},
	Crossref = {p10324},
	Title = {Active Learning Using Mean Shift Optimization for Robot Grasping},
	Url = {242},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C242%1C%1C}}

@inproceedings{IROS2009,
	Author = {Nguyen-Tuong, D. and Schoelkopf, B. and Peters, J.},
	Booktitle = {Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)},
	Crossref = {p10325},
	Title = {Sparse Online Model Learning for Robot Control with Support Vector Regression},
	Url = {244},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C244%1C%1C}}

@article{s1051400991311,
	Author = {Peters, J. and Ng, A.},
	Booktitle = {Autonomous Robots},
	Crossref = {p10312},
	Number = {2},
	Title = {Guest Editorial: Special Issue on Robot Learning, Part B},
	Url = {246},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C246%1C%1C}}

@inproceedings{JNRR2009Sigaud_0,
	Author = {Sigaud, O. and Peters, J.},
	Booktitle = {Proceedings of Journees Nationales de la Recherche en Robotique},
	Crossref = {p10313},
	Title = {From Motor Learning to Interaction Learning in Robots},
	Url = {248},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C248%1C%1C}}

@inproceedings{ICML2009Neumann_0,
	Author = {Neumann, G. and Maass, W and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Machine Learning (ICML2009)},
	Crossref = {p10290},
	Title = {Learning Complex Motions by Sequencing Simpler Motion Templates},
	Url = {250},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C250%1C%1C}}

@inproceedings{ICDL2009Detry_0,
	Author = {Detry, R and Baseski, E. and Popovic, M. and Touati, Y. and Krueger, N and Kroemer, O. and Peters, J. and Piater, J and},
	Booktitle = {Proceedings of the International Conference on Development & Learning (ICDL 2009)},
	Crossref = {p10291},
	Title = {Learning Object-specific Grasp Affordance Densities},
	Url = {252},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C252%1C%1C}}

@article{NguyenTuongModelLearningLocalGaussianl_60670,
	Author = {Nguyen-Tuong, D. and Seeger, M. and Peters, J.},
	Booktitle = {Advanced Robotics},
	Crossref = {p10301},
	Number = {15},
	Pages = {2015-2034},
	Title = {Model Learning with Local Gaussian Process Regression},
	Url = {254},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C254%1C%1C}}

@article{index,
	Author = {Kober, J. and Peters, J.},
	Booktitle = {Kuenstliche Intelligenz},
	Crossref = {p10292},
	Title = {Reinforcement Learning fuer Motor-Primitive},
	Url = {256},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C256%1C%1C}}

@article{MRA2009,
	Author = {Peters, J. and Morimoto, J. and Tedrake, R. and Roy, N.},
	Booktitle = {IEEE Robotics & Automation Magazine},
	Crossref = {p10294},
	Key = {robot learning, tc spotlight},
	Number = {3},
	Pages = {19-20},
	Title = {Robot Learning},
	Url = {258},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C258%1C%1C}}

@inproceedings{DAGM2009Lampert_0,
	Author = {Lampert, C.H. and Peters, J.},
	Booktitle = {Proceedings of the DAGM (Pattern Recognition)},
	Crossref = {p10296},
	Title = {Active Structured Learning for High-Speed Object Detection},
	Url = {262},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C262%1C%1C}}

@inproceedings{ICCP09GomezRodriguez_54910,
	Author = {Gomez Rodriguez, M. and Kober, J. and Schoelkopf, B.},
	Booktitle = {Proceedings of the First IEEE International Conference on Computational Photography (ICCP 2009)},
	Crossref = {p10400},
	Title = {Denoising photographs using dark frames optimized by quadratic programming},
	Url = {264},
	Year = {2009},
	Bdsk-Url-1 = {%1C%1C264%1C%1C}}

@inproceedings{deisenroth_ACC2008,
	Author = {Deisenroth, M.P. and Peters, J. and Rasmussen, C.E.},
	Booktitle = {American Control Conference},
	Crossref = {p10148},
	Title = {Approximate Dynamic Programming with Gaussian Processes},
	Url = {266},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C266%1C%1C}}

@inproceedings{NguyenTuong_ACC2008,
	Author = {Nguyen-Tuong, D. and Peters, J. and Seeger, M. and Schoelkopf, B.},
	Booktitle = {American Control Conference},
	Crossref = {p10149},
	Title = {Computed Torque Control with Nonparametric Regressions Techniques},
	Url = {268},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C268%1C%1C}}

@inproceedings{deisenroth_ESANN2008,
	Author = {Deisenroth, M.P. and Rasmussen, C.E. and Peters, J.},
	Booktitle = {Proceedings of the European Symposium on Artificial Neural Networks (ESANN 2008)},
	Crossref = {p10155},
	Pages = {19-24},
	Title = {Model-Based Reinforcement Learning with Continuous States and Actions},
	Url = {270},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C270%1C%1C}}

@article{Steinke_EGFinal1049,
	Author = {Steinke, F. and Hein, M. and Peters, J. and Schoelkopf, B},
	Booktitle = {Computer Graphics Forum (Special Issue on Eurographics 2008)},
	Crossref = {p10154},
	Number = {2},
	Title = {Manifold-valued Thin-Plate Splines with Applications in Computer Graphics},
	Url = {272},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C272%1C%1C}}

@inproceedings{Nguyen-Tuong_PESANN_2008,
	Author = {Nguyen-Tuong, D. and Peters, J. and Seeger, M. and Schoelkopf, B.},
	Booktitle = {Proceedings of the European Symposium on Artificial Neural Networks},
	Title = {Learning Inverse Dynamics: a Comparison},
	Year = {2008}}

@inproceedings{petersICRA2008,
	Author = {Peters, J. and Nguyen-Tuong, D.},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Title = {Real-Time Learning of Resolved Velocity Control on a Mitsubishi PA-10},
	Year = {2008}}

@inproceedings{hachiyaAAAI08,
	Author = {Hachiya, H. and Akiyama, T. and Sugiyama, M. and Peters, J.},
	Booktitle = {Proceedings of the Twenty-Third National Conference on Artificial Intelligence (AAAI 2008)},
	Crossref = {p10163},
	Title = {Adaptive Importance Sampling with Automatic Model Selection in Value Function Approximation},
	Url = {276},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C276%1C%1C}}

@inproceedings{nguyen_IROS2008,
	Author = {Nguyen-Tuong, D. and Peters, J.},
	Booktitle = {International Conference on Intelligent Robot Systems (IROS)},
	Crossref = {p10170},
	Title = {Local Gaussian Processes Regression for Real-time Model-based Robot Control},
	Url = {278},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C278%1C%1C}}

@inproceedings{kober_IROS2008,
	Author = {Kober, J. and Mohler, B. and Peters, J.},
	Booktitle = {International Conference on Intelligent Robot Systems (IROS)},
	Crossref = {p10171},
	Title = {Learning Perceptual Coupling for Motor Primitives},
	Url = {280},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C280%1C%1C}}

@book{Lesperance_JPGI_2008,
	Author = {Lesperance, Y. and Lakemeyer, G. and Peters, J. and Pirri, F.},
	Booktitle = {July 21-22, 2008, Patras, Greece, ISBN 978-960-6843-09-9},
	Crossref = {p10195},
	Title = {Proceedings of the 6th International Cognitive Robotics Workshop (CogRob 2008)},
	Year = {2008}}

@inproceedings{wierstra_PPSN08,
	Author = {Wierstra, D. and Schaul, T. and Peters, J. and Schmidthuber, J.},
	Booktitle = {10th International Conference on Parallel Problem Solving from Nature (PPSN 2008)},
	Crossref = {p10189},
	Title = {Fitness Expectation Maximization},
	Url = {282},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C282%1C%1C}}

@article{Nakanishi_IJRR_2008,
	Author = {Nakanishi, J. and Cory, R. and Mistry, M. and Peters, J. and Schaal, S.},
	Booktitle = {International Journal of Robotics Research},
	Crossref = {p3236},
	Key = {task space control, operational space control, redundancy resolution, humanoid robotics},
	Number = {6},
	Pages = {737-757},
	Title = {Operational space control: A theoretical and emprical comparison},
	Url = {284},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C284%1C%1C}}

@inproceedings{wierstra_ICANN08,
	Author = {Wierstra,D. and Schaul,T. and Peters, J. and Schmidhuber, J.},
	Booktitle = {Proceedings of the International Conference on Artificial Neural Networks (ICANN)},
	Crossref = {p10183},
	Title = {Episodic Reinforcement Learning by Logistic Reward-Weighted Regression},
	Url = {286},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C286%1C%1C}}

@inproceedings{sehnke_ICANN2008,
	Author = {Sehnke, F. and Osendorfer, C and Rueckstiess, T and Graves, A. and Peters, J. and Schmidhuber, J.},
	Booktitle = {Proceedings of the International Conference on Artificial Neural Networks (ICANN)},
	Crossref = {p10184},
	Title = {Policy Gradients with Parameter-based Exploration for Control},
	Url = {288},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C288%1C%1C}}

@book{refsr_1_1ieUTF8sbooksqid1220658804sr81,
	Author = {Peters, J.},
	Booktitle = {VDM-Verlag, ISBN 978-3-639-02110-3},
	Crossref = {p10185},
	Isbn/Issn = {ISBN 978-3-639-02110-3},
	Title = {Machine Learning for Robotics},
	Url = {290},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C290%1C%1C}}

@inproceedings{peters_EWRL2008,
	Author = {Peters, J. and Kober, J. and Nguyen-Tuong, D.},
	Booktitle = {Proceedings of the European Workshop on Reinforcement Learning (EWRL)},
	Crossref = {p10186},
	Key = {reinforcement learning, policy gradient, weighted regression},
	Title = {Policy Learning - a unified perspective with applications in robotics},
	Url = {292},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C292%1C%1C}}

@inproceedings{Kober_PEWRL_2008,
	Author = {Kober, J. and Peters, J.},
	Booktitle = {Proceedings of the European Workshop on Reinforcement Learning (EWRL)},
	Crossref = {p10187},
	Title = {Reinforcement Learning of Perceptual Coupling for Motor Primitives},
	Year = {2008}}

@article{Peters_KI_2008,
	Author = {Peters, J.},
	Booktitle = {Kuenstliche Intelligenz},
	Crossref = {p10188},
	Key = {motor control, motor primitives, motor learning},
	Number = {3},
	Title = {Machine Learning for Motor Skills in Robotics},
	Url = {294},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C294%1C%1C}}

@inproceedings{nguyen_ECSIS2008,
	Author = {Nguyen-Tuong, D. and Peters, J.},
	Booktitle = {Proceedings of the ECSIS Symposium on Learning and Adaptive Behavior in Robotic Systems, LAB-RS 2008},
	Crossref = {p10191},
	Title = {Learning Robot Dynamics for Computed Torque Control using Local Gaussian Processes Regression},
	Url = {296},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C296%1C%1C}}

@article{Peters_N_2008,
	Author = {Peters, J. and Schaal, S.},
	Booktitle = {Neurocomputing},
	Crossref = {p10233},
	Key = {reinforcement learning, policy gradient, natural actor-critic, natural gradients},
	Number = {7-9},
	Pages = {1180-1190},
	Title = {Natural actor critic},
	Url = {298},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C298%1C%1C}}

@article{Peters_IJRR_2008,
	Author = {Peters, J. and Schaal, S.},
	Booktitle = {International Journal of Robotics Research},
	Crossref = {p10235},
	Key = {operational space control, learning, em algorithm, redundancy resolution, reinforcement learning},
	Pages = {197-212},
	Title = {Learning to control in operational space},
	Url = {300},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C300%1C%1C}}

@article{Peters_NN_2008,
	Author = {Peters, J. and Schaal, S.},
	Booktitle = {Neural Networks},
	Crossref = {p10271},
	Isbn/Issn = {0893-6080 (Print)},
	Key = {reinforcement learning, policy gradient methods, natural gradients, natural actor-critic, motor skills, motor primitives},
	Number = {4},
	Pages = {682-97},
	Title = {Reinforcement learning of motor skills with policy gradients},
	Url = {302},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C302%1C%1C}}

@article{Peters_AR_2008,
	Author = {Peters, J. and Mistry, M. and Udwadia, F. E. and Nakanishi, J. and Schaal, S.},
	Date-Modified = {2015-05-12 11:14:20 +0000},
	Journal = {Autonomous Robots},
	Key = {operational space control, inverse control, dexterous manipulation, optimal control},
	Pages = {1-12},
	Title = {A unifying framework for robot control with redundant DOFs},
	Url = {304},
	Volume = {1},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C304%1C%1C}}

@phdthesis{DiplomaThesisKober_53310,
	Author = {Kober, J.},
	Booktitle = {Dipl-Ing Thesis, University of Stuttgart},
	Crossref = {p10401},
	Title = {Reinforcement Learning for Motor Primitives},
	Url = {306},
	Year = {2008},
	Bdsk-Url-1 = {%1C%1C306%1C%1C}}

@article{Peters_TCJ_2007,
	Author = {Peters, J.},
	Booktitle = {The Computer Journal},
	Crossref = {p10137},
	Key = {book review},
	Number = {6},
	Pages = {758},
	Title = {Computational Intelligence: By Amit Konar},
	Year = {2007}}

@inproceedings{peters_ICONIP2007,
	Author = {Peters, J. and Schaal, S.},
	Booktitle = {Proceedings of 14th International Conference on Neural Information Processing (ICONIP)},
	Crossref = {p10136},
	Key = {machine learning, reinforcement learning, robotics, motor primitives, policy gradients, natural actor-critic, reward-weighted regression},
	Title = {Policy Learning for Motor Skills},
	Url = {308},
	Year = {2007},
	Bdsk-Url-1 = {%1C%1C308%1C%1C}}

@inproceedings{Wierstra_ICANN_2007,
	Author = {Wierstra, D. and Foerster, A. and Peters, J. and Schmidhuber, J.},
	Booktitle = {Proceedings of the International Conference on Artificial Neural Networks (ICANN)},
	Crossref = {p10132},
	Key = {policy gradients, reinforcement learning},
	Title = {Solving Deep Memory POMDPs with Recurrent Policy Gradients},
	Url = {310},
	Year = {2007},
	Bdsk-Url-1 = {%1C%1C310%1C%1C}}

@inproceedings{Peters_POAMS_2007,
	Author = {Peters, J. and Schaal, S. and Schoelkopf, B.},
	Booktitle = {Proceedings of Autonome Mobile Systeme (AMS)},
	Crossref = {p10121},
	Key = {motor skill learning, robotics, natural actor-critic, reward-weighted regeression},
	Title = {Towards Machine Learning of Motor Skills},
	Url = {312},
	Year = {2007},
	Bdsk-Url-1 = {%1C%1C312%1C%1C}}

@inproceedings{Theodorou_AMSN_2007,
	Author = {Theodorou, E and Peters, J. and Schaal, S.},
	Booktitle = {Abstracts of the 37st Meeting of the Society of Neuroscience.},
	Crossref = {p10123},
	Key = {optimal control,reinforcement learning, arm movements},
	Title = {Reinforcement Learning for Optimal Control of Arm Movements},
	Year = {2007}}

@inproceedings{Nakanishi_IICIRS_2007,
	Author = {Nakanishi, J. and Mistry, M. and Peters, J. and Schaal, S.},
	Booktitle = {IEEE International Conference on Intelligent Robotics Systems (IROS 2007)},
	Crossref = {p3019},
	Key = {operational space control, quaternion, task space control, resolved motion rate control, resolved acceleration, force control},
	Title = {Experimental evaluation of task space position/orientation control towards compliant control for humanoid robots},
	Url = {314},
	Year = {2007},
	Bdsk-Url-1 = {%1C%1C314%1C%1C}}

@phdthesis{Peters_PTDCSUSC_2007,
	Author = {Peters, J.},
	Booktitle = {Ph.D. Thesis, Department of Computer Science, University of Southern California},
	Crossref = {p10135},
	Key = {machine learning, reinforcement learning, robotics, motor primitives, policy gradients, natural actor-critic, reward-weighted regression},
	Title = {Machine Learning of Motor Skills for Robotics},
	Year = {2007}}

@inproceedings{Peters_ICRA_2007,
	Author = {Peters, J. and Schaal, S.},
	Booktitle = {International Conference on Robotics and Automation (ICRA2007)},
	Crossref = {p2670},
	Key = {operational space control, reinforcement learning, weighted regression, em-algorithm},
	Pages = {2111-2116},
	Title = {Reinforcement learning for operational space control},
	Url = {316},
	Year = {2007},
	Bdsk-Url-1 = {%1C%1C316%1C%1C}}

@inproceedings{Peters_PIISADPRL_2007,
	Author = {Peters, J. and Schaal, S.},
	Booktitle = {Proceedings of the 2007 IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning},
	Crossref = {p2672},
	Key = {reinforcement learning, cart-pole, policy gradient methods},
	Title = {Using reward-weighted regression for reinforcement learning of task space control},
	Url = {318},
	Year = {2007},
	Bdsk-Url-1 = {%1C%1C318%1C%1C}}

@inproceedings{Peters_PESANN_2007,
	Author = {Peters, J. and Schaal, S.},
	Booktitle = {Proceedings of the 2007 European Symposium on Artificial Neural Networks (ESANN)},
	Crossref = {p2673},
	Key = {reinforcement learning, policy gradient methods, motor primitives, natural actor-critic},
	Title = {Applying the episodic natural actor-critic architecture to motor primitive learning},
	Url = {320},
	Year = {2007},
	Bdsk-Url-1 = {%1C%1C320%1C%1C}}

@inproceedings{Peters_PICML_2007,
	Author = {Peters, J. and Schaal, S.},
	Booktitle = {Proceedings of the International Conference on Machine Learning (ICML2007)},
	Crossref = {p2675},
	Key = {reinforcement learning, operational space control, weighted regression},
	Title = {Reinforcement learning by reward-weighted regression for operational space control},
	Url = {322},
	Year = {2007},
	Bdsk-Url-1 = {%1C%1C322%1C%1C}}

@inproceedings{Peters_ICAPS_2007,
	Author = {Peters, J. and Theodorou, E. and Schaal, S.},
	Booktitle = {INFORMS Conference of the Applied Probability Society},
	Crossref = {p2674},
	Key = {policy gradient methods, reinforcement learning, simulation-optimization},
	Title = {Policy gradient methods for machine learning},
	Year = {2007}}

@inproceedings{Riedmiller_PIISADPRL_2007,
	Author = {Riedmiller, M. and Peters, J. and Schaal, S.},
	Booktitle = {Proceedings of the 2007 IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning},
	Crossref = {p2654},
	Key = {reinforcement learning, cart-pole, policy gradient methods},
	Title = {Evaluation of policy gradient methods and variants on the cart-pole benchmark},
	Url = {324},
	Year = {2007},
	Bdsk-Url-1 = {%1C%1C324%1C%1C}}

@techreport{PetersTR2007,
	Author = {Peters, J.},
	Booktitle = {CLMC Technical Report: TR-CLMC-2007-2},
	Crossref = {p10376},
	Key = {relative entropy, policy search, natural policy gradient},
	Note = {A longer and more complete version is under preparation.},
	Title = {Relative Entropy Policy Search},
	Url = {326},
	Year = {2007},
	Bdsk-Url-1 = {%1C%1C326%1C%1C}}

@inproceedings{Peters_RSS_2006,
	Author = {Peters, J. and Schaal, S.},
	Booktitle = {Robotics: Science and Systems (RSS 2006)},
	Crossref = {p2583},
	Key = {operational space control redundancy forward models inverse models compliance reinforcement leanring locally weighted learning},
	Publisher = {cambridge, ma: mit press},
	Title = {Learning oper ational space control},
	Url = {328},
	Year = {2006},
	Bdsk-Url-1 = {%1C%1C328%1C%1C}}

@inproceedings{Peters_PIJCNN_2006,
	Author = {Peters, J. and Schaal, S.},
	Booktitle = {Proceedings of the 2006 International Joint Conference on Neural Networks (IJCNN)},
	Crossref = {p2656},
	Key = {motor primitives, reinforcement learning},
	Title = {Reinforcement Learning for Parameterized Motor Primitives},
	Url = {330},
	Year = {2006},
	Bdsk-Url-1 = {%1C%1C330%1C%1C}}

@inproceedings{Ting_RSS_2006,
	Author = {Ting, J. and Mistry, M. and Nakanishi, J. and Peters, J. and Schaal, S.},
	Booktitle = {Robotics: Science and Systems (RSS 2006)},
	Crossref = {p2582},
	Key = {bayesian regression linear models dimensionality reduction input noise rigid body dynamics parameter identification},
	Publisher = {cambridge, ma: mit press},
	Title = {A Bayesian approach to nonlinear parameter identification for rigid body dynamics},
	Url = {332},
	Year = {2006},
	Bdsk-Url-1 = {%1C%1C332%1C%1C}}

@inproceedings{Peters_PIICIRS_2006,
	Author = {Peters, J. and Schaal, S.},
	Booktitle = {Proceedings of the IEEE International Conference on Intelligent Robotics Systems (IROS 2006)},
	Crossref = {p2655},
	Key = {policy gradient methods, reinforcement learning, robotics},
	Title = {Policy gradient methods for robotics},
	Url = {334},
	Year = {2006},
	Bdsk-Url-1 = {%1C%1C334%1C%1C}}

@inproceedings{Nakanishi_IICIRS_2005,
	Author = {Nakanishi, J. and Cory, R. and Mistry, M. and Peters, J. and Schaal, S.},
	Booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS 2005)},
	Crossref = {p2007},
	Key = {manipulator dynamics redundant manipulators space optimization dynamical decoupling humanoid robots inverse kinematics motor coordination redundancy resolution robot dynamics seven-degree-of-freedom anthropomorphic robot arm task space control dynamical d},
	Pages = {3901-3908},
	Title = {Comparative experiments on task space control with redundancy resolution},
	Url = {336},
	Year = {2005},
	Bdsk-Url-1 = {%1C%1C336%1C%1C}}

@inproceedings{Peters_PECML_2005,
	Author = {Peters, J. and Vijayakumar, S. and Schaal, S.},
	Booktitle = {Proceedings of the 16th European Conference on Machine Learning (ECML 2005)},
	Crossref = {p2574},
	Key = {reinforcement learning, policy gradients, natural gradients},
	Pages = {280-291},
	Publisher = {springer},
	Title = {Natural Actor-Critic},
	Url = {338},
	Year = {2005},
	Bdsk-Url-1 = {%1C%1C338%1C%1C}}

@inproceedings{Peters_TAICMSNDC_2005,
	Author = {Peters, J. and Mistry, M. and Udwadia, F. E. and Schaal, S.},
	Booktitle = {The 5th ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC 2005)},
	Crossref = {p2575},
	Key = {robot control, nonlinear control, gauss principle},
	Title = {A new methodology for robot control design},
	Url = {340},
	Year = {2005},
	Bdsk-Url-1 = {%1C%1C340%1C%1C}}

@inproceedings{Peters_IICIRS_2005,
	Author = {Peters, J. and Mistry, M. and Udwadia, F. E. and Cory, R. and Nakanishi, J. and Schaal, S.},
	Booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS 2005)},
	Crossref = {p2576},
	Pages = {1824-1831},
	Title = {A unifying framework for the control of robotics systems},
	Url = {342},
	Year = {2005},
	Bdsk-Url-1 = {%1C%1C342%1C%1C}}

@inproceedings{Schaal_ISRR_2004,
	Author = {Schaal, S. and Peters, J. and Nakanishi, J. and Ijspeert, A.},
	Booktitle = {International Symposium on Robotics Research (ISRR2003)},
	Crossref = {p1805},
	Key = {movement primitives, supervised learning, reinforcment learning, locomotion, phase resetting, learning from demonstration},
	Publisher = {springer},
	Title = {Learning Movement Primitives},
	Url = {344},
	Year = {2004},
	Bdsk-Url-1 = {%1C%1C344%1C%1C}}

@inproceedings{Peters_PJSNC_2004,
	Author = {Peters, J. and Schaal, S.},
	Booktitle = {Proceedings of the 11th Joint Symposium on Neural Computation},
	Crossref = {p10174},
	Key = {natural policy gradients, motor primitives, natural actor-critic},
	Title = {Learning Motor Primitives with Reinforcement Learning},
	Year = {2004}}

@inproceedings{Mohajerian_PJSNC_2003,
	Author = {Mohajerian, P. and Peters, J. and Ijspeert, A. and Schaal, S.},
	Booktitle = {Proceedings of the 10th Joint Symposium on Neural Computation (JSNC 2003)},
	Crossref = {p1839},
	Key = {computational motor control, optimization, dynamic systems, formal modeling},
	Title = {A unifying computational framework for optimization and dynamic systems approaches to motor control},
	Url = {346},
	Year = {2003},
	Bdsk-Url-1 = {%1C%1C346%1C%1C}}

@inproceedings{Peters_IICHR_2003,
	Author = {Peters, J. and Vijayakumar, S. and Schaal, S.},
	Booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids2003)},
	Crossref = {p1785},
	Key = {reinforcement learning, policy gradients, movement primitives, behaviors, dynamic systems, humanoid robotics},
	Title = {Reinforcement learning for humanoid robotics},
	Url = {348},
	Year = {2003},
	Bdsk-Url-1 = {%1C%1C348%1C%1C}}

@inproceedings{Peters_PJSNC_2003,
	Author = {Peters, J. and Vijayakumar, S. and Schaal, S.},
	Booktitle = {Proceedings of the 10th Joint Symposium on Neural Computation (JSNC 2003)},
	Crossref = {p1838},
	Key = {reinforcement learning, neurodynamic programming, actorcritic methods, policy gradient methods, natural policy gradient},
	Title = {Scaling reinforcement learning paradigms for motor learning},
	Url = {350},
	Year = {2003},
	Bdsk-Url-1 = {%1C%1C350%1C%1C}}

@inproceedings{Schaal_WBPHHIICIRS_2003,
	Author = {Schaal, S. and Peters, J. and Nakanishi, J. and Ijspeert, A.},
	Booktitle = {Workshop on Bilateral Paradigms on Humans and Humanoids, IEEE International Conference on Intelligent Robots and Systems (IROS 2003)},
	Crossref = {p1804},
	Key = {movement primitives, supervised learning, reinforcment learning, locomotion, phase resetting, learning from demonstration},
	Title = {Control, planning, learning, and imitation with dynamic movement primitives},
	Url = {352},
	Year = {2003},
	Bdsk-Url-1 = {%1C%1C352%1C%1C}}

@inproceedings{burdet_ISHF_2001,
	Author = {Burdet, E. and Tee, K.P. and Chew, C.M. and Peters, J. and Bt, V.L.},
	Booktitle = {First International Symposium on Measurement, Analysis and Modeling of Human Functions Proceedings},
	Crossref = {p10104},
	Key = {human motor control},
	Title = {Hybrid IDM/Impedance Learning in Human Movements},
	Url = {354},
	Year = {2001},
	Bdsk-Url-1 = {%1C%1C354%1C%1C}}

@inproceedings{peters_ICBME_2000,
	Author = {Peters, J. and Riener, R},
	Booktitle = {Proceedings of the 10th International Conference on Biomedical Engineering Conference (ICBME)},
	Crossref = {p10106},
	Key = {biomechanics, human motor control},
	Title = {A real-time model of the human knee for application in virtual orthopaedic trainer},
	Url = {356},
	Year = {2000},
	Bdsk-Url-1 = {%1C%1C356%1C%1C}}

@article{Peters_KI_1998,
	Author = {Peters, J.},
	Booktitle = {Kuenstliche Intelligenz (KI)},
	Crossref = {p10134},
	Key = {book review},
	Number = {4},
	Pages = {60},
	Title = {Fuzzy Logic for Practical Applications},
	Year = {1998}}