@article{Kormushev10AR,
author="Kormushev, P. and Calinon, S. and Caldwell, D. G.",
title="Imitation Learning of Positional and Force Skills Demonstrated via Kinesthetic Teaching and Haptic Input",
journal="Advanced Robotics",
publisher="The Robotics Society of Japan",
address="Tokyo, Japan",
year="2010",
volume="25",
number="5",
pages="581--603"
}