@article{Kormushev2011AR,
  author="Kormushev, Petar and Calinon, Sylvain and Caldwell, Darwin 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="2011",
  volume="25",
  number="5",
  pages="581--603",
  url = "https://kormushev.com/papers/Kormushev_AdvancedRobotics_2011.pdf"
}