@article{Calinon09AR,
author="S. Calinon and A. Billard",
title="Statistical Learning by Imitation of Competing Constraints in Joint Space and Task Space",
journal="Advanced Robotics",
year="2009",
publisher="The Robotics Society of Japan",
address="Tokyo, Japan",
volume="23",
number="",
pages="2059--2076",
}