ias_bibref.bib

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@inproceedings{ivaldi2014,
	Address = {Madrid, Spain},
	Author = {Ivaldi, S. and Peters, J. and Padois, V. and Nori, F.},
	Booktitle = {Proceedings of the IEEE/RAS International Conference on Humanoid Robots},
	Date-Added = {2015-05-20 16:12:20 +0000},
	Date-Modified = {2015-05-21 10:09:53 +0000},
	Http = {http://hal.archives-ouvertes.fr/hal-01116148/en},
	Month = {Nov},
	Title = {Tools for simulating humanoid robot dynamics: a survey based on user feedback},
	Year = {2014}}

@inproceedings{Abbeel2005,
	Author = {Abbeel, P. and Ng, A. Y.},
	Booktitle = {Proceedings of the International Conference on Machine Learning},
	Title = {{Exploration and apprenticeship learning in reinforcement learning}},
	Year = {2005}}

@inproceedings{abe2007,
	Author = {Abe, Y. and Da Silva, M. and Popovic, J.},
	Booktitle = {Proceedings of the Symposium on Computer Animation},
	Title = {{Multiobjective Control with Frictional Contacts}},
	Year = {2007}}

@article{Alami1997,
	Author = {Alami, R. and Chatila, R. and Fleury, S. and Ghallab, M. and Ingrand, F.},
	Journal = {The International Journal Of Robotics Research},
	Pages = {1--40},
	Title = {{An Architecture for Autonomy: Introduction}},
	Year = {1997}}

@article{Arampatzis2001,
	Author = {Arampatzis, A. and Br\"{u}ggemann, G. P. and Klapsing, G. M.},
	Journal = {Medicine \& Science in Sports \& Exercise},
	Number = {6},
	Pages = {923--931},
	Title = {{Leg stiffness and mechanical energetic processes during jumping on a sprung surface.}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/11404657},
	Volume = {33},
	Year = {2001}}

@article{Argall2010,
	Abstract = {Robots come into physical contact with humans in both experimental and operational settings. Many potential factors motivate the detection of human contact, ranging from safe robot operation around humans, to robot behaviors that depend on human guidance. This article presents a review of current research within the field of Tactile HumanRobot Interactions (Tactile HRI), where physical contact from a human is detected by a robot during the execution or development of robot behaviors. Approaches are presented from two viewpoints: the types of physical interactions that occur between the human and robot, and the types of sensors used to detect these interactions. We contribute a structure for the categorization of Tactile HRI research within each viewpoint. Tactile sensing techniques are grouped into three categories, according to what covers the sensors: (i) a hard shell, (ii) a flexible substrate or (iii) no covering. Three categories of physical HRI likewise are identified, consisting of contact that (i) interferes with robot behavior execution, (ii) contributes to behavior execution and (iii) contributes to behavior development. We populate each category with the current literature, and furthermore identify the state-of-the-art within categories and promising areas for future research.},
	Author = {Argall, B. D. and Billard, A.},
	Doi = {10.1016/j.robot.2010.07.002},
	Issn = {09218890},
	Journal = {Robotics and Autonomous Systems},
	Number = {10},
	Pages = {1159--1176},
	Publisher = {Elsevier B.V.},
	Title = {{A survey of Tactile Human--Robot Interactions}},
	Url = {http://linkinghub.elsevier.com/retrieve/pii/S0921889010001375},
	Volume = {58},
	Year = {2010}}

@inproceedings{Argall2010a,
	Abstract = {Demonstration learning is a powerful and practical technique to develop robot behaviors. Even so, development remains a challenge and possible demonstration limitations can degrade policy performance. This work presents an approach for policy improvement and adaptation through a tactile interface located on the body of a robot. We introduce the Tactile Policy Correction (TPC) algorithm, that employs tactile feedback for the refinement of a demonstrated policy, as well as its reuse for the development of other policies. We validate TPC on a humanoid robot performing grasp-positioning tasks. The performance of the demonstrated policy is found to improve with tactile corrections. Tactile guidance also is shown to enable the development of policies able to successfully execute novel, undemonstrated, tasks.},
	Author = {Argall, B. D. and Sauser, E. L. and Billard, A.},
	Doi = {10.1109/DEVLRN.2010.5578872},
	Isbn = {9781424469000},
	booktitle = {Proceedings of the IEEE International Conference on Development and Learning},
	Title = {{Tactile guidance for policy refinement and reuse}},
	Url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=5578872},
	Year = {2010}}

@article{Asai2009,
	Abstract = {The main purpose of this study is to compare two different feedback controllers for the stabilization of quiet standing in humans, taking into account that the intrinsic ankle stiffness is insufficient and that there is a large delay inducing instability in the feedback loop: 1) a standard linear, continuous-time PD controller and 2) an intermittent PD controller characterized by a switching function defined in the phase plane, with or without a dead zone around the nominal equilibrium state. The stability analysis of the first controller is carried out by using the standard tools of linear control systems, whereas the analysis of the intermittent controllers is based on the use of Poincar\'{e} maps defined in the phase plane. When the PD-control is off, the dynamics of the system is characterized by a saddle-like equilibrium, with a stable and an unstable manifold. The switching function of the intermittent controller is implemented in such a way that PD-control is off when the state vector is near the stable manifold of the saddle and is on otherwise. A theoretical analysis and a related simulation study show that the intermittent control model is much more robust than the standard model because the size of the region in the parameter space of the feedback control gains (P vs. D) that characterizes stable behavior is much larger in the latter case than in the former one. Moreover, the intermittent controller can use feedback parameters that are much smaller than the standard model. Typical sway patterns generated by the intermittent controller are the result of an alternation between slow motion along the stable manifold of the saddle, when the PD-control is off, and spiral motion away from the upright equilibrium determined by the activation of the PD-control with low feedback gains. Remarkably, overall dynamic stability can be achieved by combining in a smart way two unstable regimes: a saddle and an unstable spiral. The intermittent controller exploits the stabilizing effect of one part of the saddle, letting the system evolve by alone when it slides on or near the stable manifold; when the state vector enters the strongly unstable part of the saddle it switches on a mild feedback which is not supposed to impose a strict stable regime but rather to mitigate the impending fall. The presence of a dead zone in the intermittent controller does not alter the stability properties but improves the similarity with biological sway patterns. The two types of controllers are also compared in the frequency domain by considering the power spectral density (PSD) of the sway sequences generated by the models with additive noise. Different from the standard continuous model, whose PSD function is similar to an over-damped second order system without a resonance, the intermittent control model is capable to exhibit the two power law scaling regimes that are typical of physiological sway movements in humans.},
	Author = {Asai, Yoshiyuki and Tasaka, Yuichi and Nomura, Kunihiko and Nomura, Taishin and Casadio, Maura and Morasso, Pietro},
	Editor = {Brezina, Vladimir},
	File = {::},
	Institution = {The Center for Advanced Medical Engineering and Informatics, Osaka University, Osaka, Japan.},
	Journal = {PLoS ONE},
	Number = {7},
	Pages = {14},
	Publisher = {Public Library of Science},
	Title = {{A Model of Postural Control in Quiet Standing: Robust Compensation of Delay-Induced Instability Using Intermittent Activation of Feedback Control}},
	Url = {http://www.pubmedcentral.nih.gov/articlerender.fcgi?artid=2704954\&tool=pmcentrez\&rendertype=abstract},
	Volume = {4},
	Year = {2009},
	Bdsk-Url-1 = {http://www.pubmedcentral.nih.gov/articlerender.fcgi?artid=2704954%5C&tool=pmcentrez%5C&rendertype=abstract}}

@article{Babic2011,
	Author = {Babic, J and Hale, J G and Oztop, E},
	Doi = {10.1177/1059712311411112},
	File = {::},
	Issn = {10597123},
	Journal = {Adaptive Behavior},
	Number = {4},
	Pages = {250--263},
	Title = {{Human sensorimotor learning for humanoid robot skill synthesis}},
	Url = {http://adb.sagepub.com/cgi/doi/10.1177/1059712311411112},
	Volume = {19},
	Year = {2011},
	Bdsk-Url-1 = {http://adb.sagepub.com/cgi/doi/10.1177/1059712311411112},
	Bdsk-Url-2 = {http://dx.doi.org/10.1177/1059712311411112}}

@article{Babic2001,
	Abstract = {The aim of the experiment reported here was to determine the static and dynamic stability of two-point stance phases when walking on hands and knees at different speeds. In addition, we defined the methods and predicted the consequences of including two-point stance phases into crutch assisted functional electrical stimulation (FES) walking. Crawling on hands and knees was performed at three speeds by five healthy male persons. With twelve joint-position markers placed on the subject, we determined two stability indices for every instant of gait. We analysed the peak values of these two indices during the two-point stance phases. The results indicate that we have to ensure the proper position of the centre of gravity to increase the speed of walking. To reach speeds, lower than 0.6 m/s, it is not necessary to include statically unstable phases. The shift of the centre of gravity towards and across the leading stability edge can result in getting into the dynamically unstable state. Considering the results we can effectively introduce two-point stance phases into crutch assisted FES walking and therefore increase the speed and energy effectiveness of walking},
	Author = {Babic, J and Karcnik, T and Bajd, T},
	Institution = {Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia. jan.babic@ijs.si},
	Journal = {Gait \& Posture},
	Keywords = {biomechanics,computer assisted,crutches,gait,gait physiology,gravitation,hand,hand physiology,humans,knee,knee physiology,male,paraplegia,paraplegia physiopathology,postural balance,postural balance physiology,signal processing,time factors,walking,walking physiology},
	Number = {1},
	Pages = {56--60},
	Pmid = {11378425},
	Title = {{Stability analysis of four-point walking.}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/11378425},
	Volume = {14},
	Year = {2001},
	Bdsk-Url-1 = {http://www.ncbi.nlm.nih.gov/pubmed/11378425}}

@article{Baerlocher2004,
	Author = {Baerlocher, P and Boulic, R},
	Journal = {The Visual Computer: International Journal of Computer Graphics},
	Number = {6},
	Pages = {402--417},
	Title = {{An Inverse Kinematic Architecture Enforcing an Arbitrary Number of Strict Priority Levels}},
	Volume = {20},
	Year = {2004}}

@article{Baraff1994,
	Abstract = {A new algorithm for computing contact forces between solid objects with friction is presented. The algorithm allows a mix of contact points with static and dynamic friction. In contrast to previous approaches, the problem of computing contact forces is not transformed into an optimization problem. Because of this, the need for sophisticated optimization software packages is eliminated. For both systems with and without friction, the algorithm has proven to be considerably faster, simpler, and more reliable than previous approaches to the problem. In particular, implementation of the algorithm by nonspecialists in numerical programming is quite fea- sible.},
	Author = {Baraff, David},
	Doi = {10.1145/192161.192168},
	File = {::},
	Isbn = {0897916670},
	Issn = {00978930},
	Journal = {Proceedings of the 21st annual conference on Computer graphics and interactive techniques SIGGRAPH 94},
	Number = {May},
	Pages = {23--34},
	Publisher = {ACM Press},
	Series = {Computer Graphics Proceedings, Annual Conference Series},
	Title = {{Fast contact force computation for nonpenetrating rigid bodies}},
	Url = {http://portal.acm.org/citation.cfm?doid=192161.192168},
	Volume = {28},
	Year = {1994},
	Bdsk-Url-1 = {http://portal.acm.org/citation.cfm?doid=192161.192168},
	Bdsk-Url-2 = {http://dx.doi.org/10.1145/192161.192168}}

@article{Boularias2011,
	Author = {Boularias, Abdeslam and Kober, Jens and Peters, Jan},
	Journal = {Journal of Machine Learning Research - Proceedings Track},
	Pages = {182--189},
	Title = {{Relative Entropy Inverse Reinforcement Learning}},
	Url = {http://jmlr.csail.mit.edu/proceedings/papers/v15/boularias11a/boularias11a.pdf},
	Volume = {15},
	Year = {2011},
	Bdsk-Url-1 = {http://jmlr.csail.mit.edu/proceedings/papers/v15/boularias11a/boularias11a.pdf}}

@inproceedings{Bouyarmane2010a,
	Author = {Bouyarmane, K.},
	Booktitle = {Proceedings of the Conference of the Robotics Society of Japan},
	Title = {{Multi-Contacts Stances Planning for Humanoid Locomotion and Manipulation}},
	Url = {http://staff.aist.go.jp/karim.bouyarmane/RSJ\_2010.pdf},
	Year = {2010},
	address = {Nagoya, Japan}}

@inproceedings{Bouyarmane2009,
	Author = {Bouyarmane, K. and Escande, A. and Lamiraux, F. and Kheddar, A.},
	Doi = {10.1109/ROBOT.2009.5152353},
	Isbn = {978-1-4244-2788-8},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Month = may,
	Pages = {1165--1170},
	Title = {{Potential field guide for humanoid multicontacts acyclic motion planning}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5152353},
	Year = {2009}}

@article{Bouyarmane2011a,
	Author = {Bouyarmane, K. and Kheddar, A.},
	Journal = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Title = {{Using a multi-objective controller to synthesize simulated humanoid robot motion with changing contact configurations}},
	Url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=6094483},
	Year = {2011}}

@inproceedings{Bouyarmane2011,
	Author = {Bouyarmane, K. and Kheddar, A.},
	Booktitle = {Proceedings of the IEEE International Conference on Humanoid Robots},
	Pages = {487--492},
	Title = {{FEM-based static posture planning for a humanoid robot on deformable contact support}},
	Year = {2011}}

@article{Bouyarmane2010,
	Author = {Bouyarmane, Karim and Kheddar, Abderrahmane},
	Doi = {10.1109/ICHR.2010.5686317},
	Isbn = {9781424486892},
	Journal = {Robotics},
	Number = {2},
	Pages = {8--13},
	Publisher = {IEEE},
	Title = {{Static Multi-Contact Inverse Problem for Multiple Humanoid Robots and Manipulated Objects}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5686317},
	Year = {2010},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5686317},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ICHR.2010.5686317}}

@article{Bruyninckx2010,
	Author = {Bruyninckx, Herman},
	Journal = {Most},
	Keywords = {cerns,component based software systems,composability,compositionality,design complex systems,reusability,separation con},
	Pages = {1--12},
	Title = {{Robotics software framework harmonization by means of component composability benchmarks . `` The manifolds of four}},
	Year = {2010}}

@article{Buchli2009,
	Abstract = {Many critical elements for statically stable walking for legged robots have been known for a long time, including stability criteria based on support polygons, good foothold selection, recovery strategies to name a few. All these criteria have to be accounted for in the planning as well as the control phase. Most legged robots usually employ high gain position control, which means that it is crucially important that the planned reference trajectories are a good match for the actual terrain, and that tracking is accurate. Such an approach leads to conservative controllers, i.e. relatively low speed, ground speed matching, etc. Not surprisingly such controllers are not very robust - they are not suited for the real world use outside of the laboratory where the knowledge of the world is limited and error prone. Thus, to achieve robust robotic locomotion in the archetypical domain of legged systems, namely complex rough terrain, where the size of the obstacles are in the order of leg length, additional elements are required. A possible solution to improve the robustness of legged locomotion is to maximize the compliance of the controller. While compliance is trivially achieved by reduced feedback gains, for terrain requiring precise foot placement (e.g. climbing rocks, walking over pegs or cracks) compliance cannot be introduced at the cost of inferior tracking. Thus, model-based control and - in contrast to passive dynamic walkers - active balance control is required. To achieve these objectives, in this paper we add two crucial elements to legged locomotion, i.e., floating-base inverse dynamics control and predictive force control, and we show that these elements increase robustness in face of unknown and unanticipated perturbations (e.g. obstacles). Furthermore, we introduce a novel line-based COG trajectory planner, which yields a simpler algorithm than traditional polygon based methods and creates the appropriate input to our control system.We show results from bot- h simulation and real world of a robotic dog walking over non-perceived obstacles and rocky terrain. The results prove the effectivity of the inverse dynamics/force controller. The presented results show that we have all elements needed for robust all-terrain locomotion, which should also generalize to other legged systems, e.g., humanoid robots.},
	Author = {Buchli, Jonas and Kalakrishnan, Mrinal and Mistry, Michael and Pastor, Peter and Schaal, Stefan},
	Doi = {10.1109/IROS.2009.5354681},
	Isbn = {9781424438037},
	Journal = {2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Pages = {814--820},
	Publisher = {Ieee},
	Title = {{Compliant quadruped locomotion over rough terrain}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5354681},
	Year = {2009},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5354681},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/IROS.2009.5354681}}

@article{Burdet2001,
	Abstract = {To manipulate objects or to use tools we must compensate for any forces arising from interaction with the physical environment. Recent studies indicate that this compensation is achieved by learning an internal model of the dynamics, that is, a neural representation of the relation between motor command and movement. In these studies interaction with the physical environment was stable, but many common tasks are intrinsically unstable. For example, keeping a screwdriver in the slot of a screw is unstable because excessive force parallel to the slot can cause the screwdriver to slip and because misdirected force can cause loss of contact between the screwdriver and the screw. Stability may be dependent on the control of mechanical impedance in the human arm because mechanical impedance can generate forces which resist destabilizing motion. Here we examined arm movements in an unstable dynamic environment created by a robotic interface. Our results show that humans learn to stabilize unstable dynamics using the skillful and energy-efficient strategy of selective control of impedance geometry.},
	Author = {Burdet, E. and Osu, R. and Franklin, D. W. and Milner, T. E. and Kawato, M.},
	Doi = {10.1038/35106566},
	Issn = {00280836},
	Journal = {Nature},
	Number = {6862},
	Pages = {446--9},
	Publisher = {Nature Publishing Group},
	Title = {{The central nervous system stabilizes unstable dynamics by learning optimal impedance.}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/11719805},
	Volume = {414},
	Year = {2001}}

@article{cambon2009,
	Author = {Cambon, S and Alami, R and Gravot, F},
	Journal = {The International Journal of Robotics Research},
	Pages = {104--126},
	Title = {{A Hybrid Approach to Intricate Motion, Manipulation and Task Planning}},
	Volume = {28},
	Year = {2009}}

@article{Chan1995,
	Author = {Chan, T F and Dubey, V D},
	Journal = {IEEE Transactions on Robotics and Automation},
	Number = {2},
	Pages = {286--292},
	Title = {{A Weighted Least-Norm Solution Based Scheme for Avoiding Joint Limits for Redundant Joint Manipulators}},
	Volume = {11},
	Year = {1995}}

@article{ChaumetteFrancoisandMarchand2001,
	Author = {{Chaumette, Fran\c{c}ois and Marchand}, Eric},
	Journal = {IEEE Transactions on Robotics and Automation},
	Number = {5},
	Pages = {719--730},
	Title = {{A redundancy-based iterative approach for avoiding joint limits: Application to visual servoing}},
	Volume = {17},
	Year = {2001}}

@inproceedings{Cheng2006,
	Author = {Cheng, G. and Hyon, S.-H. and Morimoto, J. and Ude, A. and Colvin, G. and Scroggin, W. and Jacobsen, S.},
	booktitle = {Proceedings of the IEEE/RAS International Conference on Humanoid Robots},
	Pages = {182--187},
	Title = {{CB: A Humanoid Research Platform for Exploring NeuroScience}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4115599},
	Year = {2006},
	doi = {10.1109/ICHR.2006.321382}}

@article{Coffey2011,
	Author = {Coffey, N. and Harrison, A. J. and Donoghue, O. A. and Hayes, K.},
	Doi = {10.1016/j.humov.2010.11.005},
	Issn = {18727646},
	Journal = {Human Movement Science},
	Number = {6},
	Pages = {1144--1166},
	Publisher = {Elsevier B.V.},
	Title = {{Common functional principal components analysis: A new approach to analyzing human movement data}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/21543128},
	Volume = {30},
	Year = {2011},
	doi = {10.1016/j.humov.2010.11.005}}

@inproceedings{colette2008,
	Address = {Pasadena, USA},
	Author = {Collette, C. and Micaelli, A. and Lemerle, P. and Andriot, C.},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics \& Automation},
	Pages = {3187--3193},
	Title = {{Robust Balance Optimization Control of Humanoid Robots with Multiple non Coplanar Grasps and Frictional Contacts}},
	Year = {2008}}

@inproceedings{Dalibard2009,
	Author = {Dalibard, S. and Nakhaei, A. and Lamiraux, F. and Laumond, J.-P.},
	Doi = {10.1109/ICHR.2009.5379547},
	Isbn = {978-1-4244-4597-4},
	booktitle = {Proceedings of the IEEE/RAS International Conference on Humanoid Robots},
	Month = dec,
	Pages = {355--360},
	Title = {{Whole-body task planning for a humanoid robot: a way to integrate collision avoidance}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5379547},
	Year = {2009},
	doi = {10.1109/ICHR.2009.5379547}}

@inproceedings{Daniel2012,
	Author = {Daniel, C. and Neumann, G. and Peters, J.},
	Booktitle = {Proceedings of the International Conference on Artificial Intelligence and Statistics},
	Title = {{Hierarchical Relative Entropy Policy Search}},
	Year = {2012}}

@article{Escande2009,
	Author = {Escande, A and Kheddar, A and Miossec, S and Garsault, S},
	Institution = {Springer},
	Journal = {Experimental Robotics},
	Pages = {293--302},
	Title = {{Planning support contact-points for acyclic motions and experiments on HRP-2}},
	Year = {2009}}

@inproceedings{Escande2010,
	Author = {Escande, A. and Mansard, N. and Wieber, P.-B.},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Pages = {3733--3738},
	Title = {{Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints}},
	Year = {2010}}

@article{Escande2006,
	Author = {Escande, Adrien},
	Institution = {IEEE},
	Journal = {Intelligent Robots and Systems 2006 IEEE/RSJ International Conference on},
	Pages = {2974--2979},
	Title = {{Planning support contact-points for humanoid robots and experiments on HRP-2}},
	Year = {2006}}

@article{Escande2009a,
	Author = {Escande, Adrien and Kheddar, Abderrahmane and Overall, A},
	Doi = {10.1109/IROS.2009.5354371},
	Isbn = {9781424438044},
	Journal = {October},
	Pages = {435--440},
	Publisher = {Ieee},
	Title = {{Contact Planning for Acyclic Motion with Tasks Constraints}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5354371},
	Year = {2009},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5354371},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/IROS.2009.5354371}}

@inproceedings{Faverjon1987,
	Author = {Faverjon, B and Tournassoud, P},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Pages = {1152--1159},
	Title = {{A local based approach for path planning of manipulators with a high number of degrees of freedom}},
	Year = {1987}}
	
@inproceedings{Droniou2012,
Author={Droniou, A. and Ivaldi, S. and Padois, V. and Sigaud, O.},
Booktitle={Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
Title={Autonomous Online Learning of Velocity Kinematics on the iCub: a Comparative Study},
Year={2012}}

@article{Featherstone1999a,
	Abstract = {This paper is the second in a two part series describing a recursive, divide and conquer algorithm for calculating the forward dynamics of a robot mechanism, or a general rigid body system, on a parallel computer. This paper presents the general version of the algorithm. The derivation begins with an algorithm for kinematic trees, which is then extended to closed loop systems. The general algorithm achieves O(log(n)) time complexity on O(n) processors for all kinematic trees and a large subset of closed loop systems.This paper also presents a more accurate version of the algorithm and the results of some numerical accuracy tests that compare both versions with the standard articulated body algorithm. The tests use rigid body systems containing up to 1024 bodies, and they show that the divide and conquer algorithm is substantially less accurate than the best serial algorithm but still accurate enough to be useful.},
	Author = {Featherstone, R},
	Doi = {10.1177/02783649922066628},
	Issn = {02783649},
	Journal = {The International Journal of Robotics Research},
	Number = {9},
	Pages = {876--892},
	Publisher = {SAGE Publications},
	Title = {{A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy}},
	Url = {http://ijr.sagepub.com/cgi/doi/10.1177/02783649922066628},
	Volume = {18},
	Year = {1999},
	doi = {10.1177/02783649922066628}}

@article{Featherstone1999,
	Abstract = {This paper presents a recursive, divide-and-conquer algorithm for calculating the forward dynamics of a robot mechanism, or general rigid-body system, on a parallel computer. It features O(log(n)) time complexity on O(n) processors and is the fastest available algorithm for a computer with a large number of processors and low communications costs. It is an exact, noniterative algorithm and is applicable to mechanisms with any joint type and any topology, including branches and kinematic loops. The algorithm works by recursive application of a formula that constructs the articulatedbody equations of motion of an assembly from those of its constituent parts. The inputs to this formula are the equations of motion of two independent subassemblies, plus a description of how they are to be connected, and the output is the equation of motion of the assembly. Starting with a collection of unconnected rigid bodies, the equations of motion of any rigid-body system can be constructed by repeated application of this formula. This paper, being the first in a two-part series, presents an overview of the new algorithm and a detailed description of the simplest case: unbranched kinematic chains. Details of the general case are presented in Part 2.},
	Author = {Featherstone, R},
	Doi = {10.1177/02783649922066619},
	Issn = {02783649},
	Journal = {The International Journal of Robotics Research},
	Number = {9},
	Pages = {867--875},
	Publisher = {SAGE Publications},
	Title = {{A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 1: Basic Algorithm}},
	Url = {http://ijr.sagepub.com/cgi/doi/10.1177/02783649922066619},
	Volume = {18},
	Year = {1999},
	Bdsk-Url-1 = {http://ijr.sagepub.com/cgi/doi/10.1177/02783649922066619},
	Bdsk-Url-2 = {http://dx.doi.org/10.1177/02783649922066619}}

@article{Featherstone2010,
	Author = {Featherstone, R},
	Doi = {10.1177/0278364909357644},
	Issn = {02783649},
	Journal = {The International Journal of Robotics Research},
	Number = {10},
	Pages = {1353--1368},
	Title = {{Exploiting Sparsity in Operational-space Dynamics}},
	Url = {http://ijr.sagepub.com/cgi/doi/10.1177/0278364909357644},
	Volume = {29},
	Year = {2010},
	Bdsk-Url-1 = {http://ijr.sagepub.com/cgi/doi/10.1177/0278364909357644},
	Bdsk-Url-2 = {http://dx.doi.org/10.1177/0278364909357644}}

@article{Forner-Cordero2005,
	Abstract = {Principal components analysis (PCA) has not been very much in vogue within the field of movement coordination even though it is useful to reduce data dimensionality and to reveal underlying data structures. Traditionally, studies of coordination between two joints have predominantly made use of relative phase analyses. This has resulted in the identification of principal constraints that govern the Central Nervous System's organization and the control of coordination patterns. However, relative phase analyses on pairwise joints have some drawbacks because they are not optimal for revealing convergent patterns among multijoint coordination modes and for unraveling generic control strategies. In this paper, we present a method to analyze multijoint coordination based on the properties of PC, more specifically the eigenvalues and eigenvectors of the covariance matrix. The comparison between relative phase analysis and PCA shows that both provide similar and consistent results, underscoring the latter technique's sensitivity to the study of coordination performance. In addition, it provides a method for automatic pattern detection as well as an index of performance for each joint within the context of the global coordination pattern. Finally, the merit of the PCA technique within the context of central pattern generators (CPG) will be discussed.},
	Author = {Forner-Cordero, A. and Levin, O. and Li, Y. and Swinnen, S. P.},
	Doi = {10.1007/s00422-005-0582-y},
	Isbn = {3491871190},
	Issn = {03401200},
	Journal = {Biological Cybernetics},
	Keywords = {a,bimanual,coordination,forner cordero,levin,li,motor control laboratory,multijoint,o,p,phase,principal components,relative,s,swinnen,y},
	Number = {1},
	Pages = {63--78},
	Pmid = {16021517},
	Title = {{Principal component analysis of complex multijoint coordinative movements}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/16021517},
	Volume = {93},
	Year = {2005},
	Bdsk-Url-1 = {http://www.ncbi.nlm.nih.gov/pubmed/16021517},
	Bdsk-Url-2 = {http://dx.doi.org/10.1007/s00422-005-0582-y}}

@article{Fumagalli2010learning,
	Author = {Fumagalli, M. and Gijsberts, A. and Ivaldi, S. and Jamone, L. and Metta, G. and Natale, L. and Nori, F. and Sandini, G.},
	Journal = {From Motor Learning to Interaction Learning in Robots},
	Keywords = {force sensing,humanoid robotics,machine learning},
	Pages = {149--167},
	Publisher = {Springer},
	Title = {{Learning to exploit proximal force sensing: a comparison approach}},
	Url = {http://www.springerlink.com/index/a36876481251n485.pdf},
	Year = {2010},
	Bdsk-Url-1 = {http://www.springerlink.com/index/a36876481251n485.pdf}}

@article{Gillette2005,
	Abstract = {Sit-to-stand movements are a fundamental daily activity and a prerequisite to upright posture. Previous simulations of spinal cord injured individuals using functional neuromuscular stimulation (FNS) suggested a forward foot placement would reduce hand-support forces. However, this recommendation has proved to be difficult for able-bodied individuals standing hands-free and for individuals with spinal cord injuries standing with a walker. This inverse model is a step towards the goal of using forward simulations to determine efficient sit-to-stand strategies. Initial seated postures varied from 80-110 degrees of knee flexion and 90-120 degrees of hip flexion. Realistic progressions of lower extremity joint angles including development of linear momentum were created using sigmoid functions. These kinematic values were used to estimate the required resultant joint torques to complete sit-to-stand. Joint torque values that act to raise the body were combined to indicate sit-to-stand difficulty from different seated postures. A representative foot-forward placement (knee 80 degrees, hip 90 degrees) resulted in a maximum combined torque of 544 Nm. In contrast, a representative foot-back placement (knee 110 degrees, hip 120 degrees) resulted in a maximum combined torque of 661 Nm. An intermediate seated posture (knee 97 degrees, hip 90 degrees) produced the lowest maximum combined torque of 401 Nm (2 Nm ankle plantarflexion, 201 Nm knee extension, 198 Nm hip extension). Foot-forward placement required substantial ankle dorsiflexion torques. The most efficient strategy appeared to be combining a foot back placement with momentum generation using hip flexion. By generalizing the sit-to-stand model beyond FNS-driven movements, further insight may be gained into other populations (i.e., elderly).},
	Author = {Gillette, Jason C and Stevermer, Catherine A and Raina, Shashank and Derrick, Timothy R},
	Institution = {Department of Health and Human Performance, Iowa State University Ames, IA 50011-1160, USA.},
	Journal = {Biomedical Sciences Instrumentation},
	Pages = {7--12},
	Pmid = {15850074},
	Title = {{Support torques during simulated sit-to-stand movements.}},
	Volume = {41},
	Year = {2005}}

@misc{Grunwald2003,
	Abstract = {Mobile service robots will share their workspaces, e.g., offices, hospitals, or households, with humans. Thus, a direct contact between man and machine is inevitable. Robots equipped with appropriate sensors can sense the touch. In this paper, we present how an unskilled user can intuitively teach the lightweight robot at the German Aerospace Center (DLR), We\ßling, Germany, just by touching the arm. Programming by "touch" is very intuitive as you take the robot by the hand and demonstrate the movements. This feature can also be used to interact with the service robot while executing a task. Therefore, if our seven-degrees-of-freedom robot arm senses a touch, it will react by an evasive motion of the touched links while keeping the orientation of the tool center point.},
	Author = {Grunwald, G and Schreiber, G and Albu-Schaffer, A and Hirzinger, G},
	Booktitle = {IEEE Transactions on Industrial Electronics},
	Doi = {10.1109/TIE.2003.814759},
	File = {::},
	Issn = {02780046},
	Number = {4},
	Pages = {659--666},
	Title = {{Programming by touch: the different way of human-robot interaction}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1215468},
	Volume = {50},
	Year = {2003},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1215468},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/TIE.2003.814759}}

@article{Guenter2007,
	Author = {Guenter, Florent and Hersch, Micha and Calinon, Sylvain and Billard, Aude},
	Journal = {RSJ Advanced Robotics},
	Number = {13},
	Pages = {1521--1544},
	Title = {{Reinforcement Learning for Imitating Constrained Reaching Movements}},
	Volume = {21},
	Year = {2007}}

@article{Hale2007b,
	Abstract = {This paper proposes an effective framework of human-humanoid robot physical interaction. Its key component is a new control technique for full-body balancing in the presence of external forces, which is presented and then validated empirically. We have adopted an integrated system approach to develop humanoid robots. Herein, we describe the importance of replicating human-like capabilities and responses during human-robot interaction in this context. Our balancing controller provides gravity compensation, making the robot passive and thereby facilitating safe physical interactions. The method operates by setting an appropriate ground reaction force and transforming these forces into full-body joint torques. It handles an arbitrary number of force interaction points on the robot. It does not require force measurement at interested contact points. It requires neither inverse kinematics nor inverse dynamics. It can adapt to uneven ground surfaces. It operates as a force control process, and can therefore, accommodate simultaneous control processes using force-, velocity-, or position-based control. Forces are distributed over supporting contact points in an optimal manner. Joint redundancy is resolved by damping injection in the context of passivity. We present various force interaction experiments using our full-sized bipedal humanoid platform, including compliant balance, even when affected by unknown external forces, which demonstrates the effectiveness of the method.},
	Author = {Hale, J G and Cheng, G},
	Doi = {10.1109/TRO.2007.904896},
	Issn = {15523098},
	Journal = {IEEE Transactions on Robotics},
	Number = {5},
	Pages = {884--898},
	Publisher = {IEEE},
	Title = {{Full-Body Compliant Human--Humanoid Interaction: Balancing in the Presence of Unknown External Forces}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4339533},
	Volume = {23},
	Year = {2007},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4339533},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/TRO.2007.904896}}

@article{Harada2003,
	Abstract = {This paper discusses the pushing manipulation of an object by a humanoid robot. For such a pushing task, we show that there are two kinds of ZMPs, i.e., the conventional "Zero Moment Point (ZMP)" considering all sources of the force/moment acting in the foot supporting area, and the "Generalized Zero Moment Point (GZMP)" which is an generalization of ZMP for a humanoid robot whose hands do not contact with an object. We first obtain the stable region of the GZMP on the floor. Moreover, since the difference between these two ZMPs corresponds to the magnitude of contact force applied by the hands, we propose the pushing manipulation by a humanoid robot by modifying the desired ZMP trajectory for a humanoid. The effectiveness of the proposed method is confirmed by simulation results.},
	Author = {Harada, K and Kajita, S and Kaneko, K and Hirukawa, H},
	Doi = {10.1109/ROBOT.2003.1241827},
	Isbn = {0780377362},
	Journal = {2003 IEEE International Conference on Robotics and Automation},
	Number = {1},
	Pages = {1627--1632},
	Publisher = {Ieee},
	Title = {{Pushing manipulation by humanoid considering two-kinds of ZMPs}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1241827},
	Volume = {2},
	Year = {2003},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1241827},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ROBOT.2003.1241827}}

@article{Harada2007,
	Abstract = {This paper proposes a new style of manipulation by a humanoid robot. Focusing on the task of pushing an object, the foot placement is planned in real time according to the result of manipulation of the object. By using the impedance control of the arms, the humanoid robot can stably push the object regardless of the mass of the object. If the object is heavy, the humanoid robot pushes it by walking slowly and vice versa. Also, for planning the gait in real time, we propose a new analytical method where a newly calculated trajectory of the robot motion is smoothly connected to the current one. The effectiveness of the proposed method is confirmed by simulation and experiment},
	Author = {Harada, Kensuke and Kajita, Shuuji and Kanehiro, Fumio and Fujiwara, Kiyoshi and Kaneko, Kenji and Yokoi, Kazuhito and Hirukawa, Hirohisa},
	Doi = {10.1109/TMECH.2006.886254},
	Issn = {10834435},
	Journal = {IEEEASME Transactions on Mechatronics},
	Number = {1},
	Pages = {53--62},
	Title = {{Real-Time Planning of Humanoid Robot's Gait for Force-Controlled Manipulation}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4088968},
	Volume = {12},
	Year = {2007},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4088968},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/TMECH.2006.886254}}

@article{Hauser2005,
	Abstract = {This paper presents a non-gaited motion planner for humanoid robots navigating very uneven and sloped terrain. The planner allows contact with any pre-designated part of the robots body, since the use of hands or knees (in addition to feet) may be required to balance. It uses a probabilistic, sample-based approach to compute each step. One challenge of this approach is that most randomly sampled configurations do not satisfy all motion constraints (closed-chain, equilibrium, collision). To address this problem, a method of iterative constraint enforce- ment is presented that samples feasible configurations much more quickly. Example motions planned for the humanoid robot HRP-2 are shown in simulation.},
	Author = {Hauser, K and Bretl, T and Latomb, J C},
	Doi = {10.1109/ICHR.2005.1573537},
	File = {::},
	Institution = {IEEE},
	Isbn = {0780393201},
	Journal = {5th IEEERAS International Conference on Humanoid Robots 2005},
	Pages = {7--12},
	Publisher = {Ieee},
	Title = {{Non-gaited humanoid locomotion planning}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1573537},
	Year = {2005},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1573537},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ICHR.2005.1573537}}

@inproceedings{Hayashi2007,
	Abstract = {In this paper, the development of a robot which has "flesh" made of soft polyurethane foam is presented. In order for a robot to behave in contact with an environment, people and itself, it is necessary to have not only rigid bone but also soft flesh. We developed a small humanoid robot "macra" which has thick soft flesh with distributed tactile sensors. A comparative discussion about possible materials of soft cover is described, and then thermal design was explored. A problem about movability of joints and implementation of tactile sensing was described. In the last part of this paper, several examples of advantages which are derived from soft polyurethane foam exterior parts with distributed three-axis force/torque sensors are shown.},
	Author = {Hayashi, M. and Sagisaka, T. and Ishizaka, Y. and Yoshikai, T. and Inaba, M.},
	Doi = {10.1109/IROS.2007.4399360},
	Isbn = {9781424409112},
	booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Pages = {3610--3615},
	Title = {{Development of functional whole-body flesh with distributed three-axis force sensors to enable close interaction by humanoids}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4399360},
	Year = {2007},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4399360},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/IROS.2007.4399360}}

@article{Hirzinger2001,
	Abstract = {The paper describes the recent design and development efforts in DLR Robotics Lab towards the second generation of light-weight robots. The design of the light weight mechanics, integrated sensors and electronics is outlined. The fully sensory joint, with motor and link position sensors as well as joint torque sensors enables the implementation of effective vibration damping and advanced control strategies for compliant manipulation. The mechatronic approach incorporates a tight collaboration between mechanics, electronics and controller design. The authors hope that important steps towards a new generation of service and personal robots have been achieved.},
	Author = {Hirzinger, G and Albu-Schaffer, A and Hahnle, M and Schaefer, I and Sporer, N},
	Doi = {10.1109/ROBOT.2001.933136},
	Institution = {IEEE},
	Isbn = {0780365763},
	Issn = {10504729},
	Journal = {Proceedings 2001 ICRA IEEE International Conference on Robotics and Automation Cat No01CH37164},
	Pages = {3356--3363},
	Publisher = {Ieee},
	Title = {{On a new generation of torque controlled light-weight robots}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=933136},
	Volume = {4},
	Year = {2001},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=933136},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ROBOT.2001.933136}}

@article{Huang2011,
	Abstract = {Background: Understanding how stability and/or maneuverability affects motor control strategies can provide insight on moving about safely in an unpredictable world. Stability in human movement has been well-studied while maneuverability has not. Further, a tradeoff between stability and maneuverability during movement seems apparent, yet has not been quantified. We proposed that greater maneuverability, the ability to rapidly and purposefully change movement direction and speed, is beneficial in uncertain environments. We also hypothesized that gaining maneuverability comes at the expense of stability and perhaps also corresponds with decreased muscle coactivation. Materials and Methods: We used a goal-directed forward lean movement task that integrated both stability and maneuverability. Subjects (n=11) used their center of pressure to control a cursor on a computer monitor to reach a target. We added task uncertainty by shifting the target anterior-posterior position mid-movement. We used a balance board with a narrow beam that reduced the base of support in the medio-lateral direction and defined stability as the probability that subjects could keep the balance board level during the task. Results: During the uncertainty condition, subjects were able to change direction of their anterior-posterior center of pressure more rapidly, indicating that subjects were more maneuverable. Furthermore, medio-lateral center of pressure excursions also approached the edges of the beam and reduced stability margins, implying that subjects were less stable (i.e. less able to keep the board level). On the narrow beam board, subjects increased muscle coactivation of lateral muscle pairs and had greater muscle activity in the left leg. However, there were no statistically significant differences in muscle activity amplitudes or coactivation with uncertainty. Conclusions/Significance: These results demonstrate that there is a tradeoff between stability and maneuverability during a goal-directed whole-body movement. Tasks with added uncertainty could help individuals learn to be more maneuverable yet sufficiently stable.},
	Author = {Huang, H. J. and Ahmed, A. A.},
	Editor = {Lucia, Alejandro},
	File = {::},
	Institution = {Department of Integrative Physiology, University of Colorado at Boulder, Boulder, Colorado, United States of America. helen.huang@colorado.edu},
	Journal = {{PLoS ONE}},
	Number = {7},
	Pages = {10},
	Publisher = {Public Library of Science},
	Title = {{Tradeoff between Stability and Maneuverability during Whole-Body Movements}},
	Url = {http://dx.plos.org/10.1371/journal.pone.0021815},
	Volume = {6},
	Year = {2011},
	Bdsk-Url-1 = {http://dx.plos.org/10.1371/journal.pone.0021815}}

@article{Huo2011,
	Author = {Huo, L and Baron, L},
	File = {::},
	Journal = {Robotics and Computer-Integrated Manufacturing},
	Number = {1},
	Pages = {367--376},
	Title = {{The self-adaptation of weights for joint-limits and singularity avoidances of functionally redundant robotic-task}},
	Volume = {27},
	Year = {2011}}

@article{Hyon2009,
	Abstract = {This paper reports the applicability of our passivity-based contact force control framework for biped humanoids. We experimentally demonstrate its adaptation to unknown rough terrain. Adaptation to uneven ground is achieved by optimally distributed antigravitational forces applied to preset contact points in a feedforward manner, even without explicitly measuring the external forces or the terrain shape. Adaptation to unknown inclination is also possible by combining an active balancing controller based on the center-of-mass (CoM) measurements with respect to the inertial frame. Furthermore, we show that a simple impedance controller for supporting the feet or hands allows the robot to adapt to low-friction ground without prior knowledge of the ground friction. This presentation includes supplementary experimental videos that show a full-sized biped humanoid robot balancing on uneven ground or time-varying inclination.},
	Author = {Hyon, Sang-Ho},
	Doi = {10.1109/TRO.2008.2006870},
	Issn = {15523098},
	Journal = {IEEE Transactions on Robotics},
	Number = {1},
	Pages = {171--178},
	Publisher = {IEEE},
	Title = {{Compliant Terrain Adaptation for Biped Humanoids Without Measuring Ground Surface and Contact Forces}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4671091},
	Volume = {25},
	Year = {2009},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4671091},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/TRO.2008.2006870}}

@article{Hyon2007,
	Abstract = {This paper proposes an effective framework of human-humanoid robot physical interaction. Its key component is a new control technique for full-body balancing in the presence of external forces, which is presented and then validated empirically. We have adopted an integrated system approach to develop humanoid robots. Herein, we describe the importance of replicating human-like capabilities and responses during human-robot interaction in this context. Our balancing controller provides gravity compensation, making the robot passive and thereby facilitating safe physical interactions. The method operates by setting an appropriate ground reaction force and transforming these forces into full-body joint torques. It handles an arbitrary number of force interaction points on the robot. It does not require force measurement at interested contact points. It requires neither inverse kinematics nor inverse dynamics. It can adapt to uneven ground surfaces. It operates as a force control process, and can therefore, accommodate simultaneous control processes using force-, velocity-, or position-based control. Forces are distributed over supporting contact points in an optimal manner. Joint redundancy is resolved by damping injection in the context of passivity. We present various force interaction experiments using our full-sized bipedal humanoid platform, including compliant balance, even when affected by unknown external forces, which demonstrates the effectiveness of the method.},
	Author = {Hyon, Sang-Ho and Hale, J G and Cheng, G},
	Doi = {10.1109/TRO.2007.904896},
	Issn = {15523098},
	Journal = {IEEE Transactions on Robotics},
	Number = {5},
	Pages = {884--898},
	Publisher = {IEEE},
	Title = {{Full-Body Compliant Human--Humanoid Interaction: Balancing in the Presence of Unknown External Forces}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4339533},
	Volume = {23},
	Year = {2007},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4339533},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/TRO.2007.904896}}

@article{Ikemoto2009,
	Author = {Ikemoto, Shuhei and Amor, Heni Ben and Minato, Takashi and Ishiguro, Hiroshi and Jung, Bernhard},
	Doi = {10.1109/ROMAN.2009.5326164},
	Isbn = {9781424450817},
	Journal = {ROMAN 2009 The 18th IEEE International Symposium on Robot and Human Interactive Communication},
	Pages = {504--509},
	Publisher = {Ieee},
	Title = {{Physical interaction learning: Behavior adaptation in cooperative human-robot tasks involving physical contact}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5326164},
	Year = {2009},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5326164},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ROMAN.2009.5326164}}

@article{Ishiguro2001,
	Abstract = {The authors have developed a robot called "Robovie" that has unique mechanisms designed for communication with humans. Robovie can generate human-like behaviors by using human-like actuators and vision and audio sensors. Software is a key element in the systems development. Two important ideas in human-robot communication through research from the viewpoint of cognitive science have been obtained - one is importance of physical expressions using the body and the other is the effectiveness of the robot's autonomy in the robot's utterance recognition by humans. Based on these psychological experiments, a new architecture that generates episode chains in interactions with humans is developed. The basic structure of the architecture is a network of situated modules. Each module consists of elemental behaviors to entrain humans and a behavior for communicating with humans.},
	Author = {Ishiguro, Hiroshi and Ono, Tetsuo and Imai, Michita and Maeda, Takeshi and Kanda, Takayuki and Nakatsu, Ryohei},
	Doi = {10.1108/01439910110410051},
	Issn = {0143991X},
	Journal = {Industrial Robot An International Journal},
	Number = {6},
	Pages = {498--504},
	Publisher = {Emerald Group Publishing Limited},
	Title = {{Robovie: an interactive humanoid robot}},
	Url = {http://www.ingentaconnect.com/content/mcb/049/2001/00000028/00000006/art00006},
	Volume = {28},
	Year = {2001},
	Bdsk-Url-1 = {http://www.ingentaconnect.com/content/mcb/049/2001/00000028/00000006/art00006},
	Bdsk-Url-2 = {http://dx.doi.org/10.1108/01439910110410051}}



@article{Jain,
	Author = {Jain, A. and Killpack, M. and Edsinger, A. and Kemp, C.},
	Title = {{Reaching in clutter with whole-arm tactile sensing}},
	Year = {2013},
	volume = 32,
	Number = 4,
	Journal = {{The International Journal Of Robotics Research}},
	doi = {10.1177/0278364912471865},
	month = apr
	}

@article{Janssen2002,
	Abstract = {The sit-to-stand (STS) movement is a skill that helps determine the functional level of a person. Assessment of the STS movement has been done using quantitative and semiquantitative techniques. The purposes of this study were to identify the determinants of the STS movement and to describe their influence on the performance of the STS movement.},
	Author = {Janssen, W. G. M. and Bussmann, H. B. J. and Stam, H. J.},
	File = {::},
	Issn = {0031-9023},
	Journal = {Physical Therapy},
	Keywords = {Ankle Joint,Ankle Joint: physiology,Biomechanics,Hip Joint,Hip Joint: physiology,Humans,Knee Joint,Knee Joint: physiology,Motor Skills,Movement,Movement: physiology,Muscle, Skeletal,Muscle, Skeletal: physiology,Posture,Posture: physiology,Research,Weight-Bearing},
	Language = {en},
	Month = sep,
	Number = {9},
	Pages = {866--79},
	Publisher = {American Physical Therapy Association},
	Title = {{Determinants of the sit-to-stand movement: a review}},
	Url = {http://ptjournal.apta.org/content/82/9/866.full},
	Volume = {82},
	Year = {2002},
	Bdsk-Url-1 = {http://ptjournal.apta.org/content/82/9/866.full}}

@article{Johannsen2012,
	Abstract = {Sway is reduced by light nonsupporting touch between parts of the body and a fixed surface. This effect is assumed to reflect augmentation of sensory cues for sway by point-of-contact reaction forces. It has been shown that movement of the contact surface can increase sway relative to an earth-fixed contact. Light touch contact with another person, for example, holding hands, affords a moving contact due to partner sway. We asked whether interpersonal light touch (IPLT) would increase sway relative to standing alone. We expected effects on sway to vary as a function of the site of contact and the postural stability of each partner. Eight pairs of participants, standing in either normal bipedal or tandem Romberg stance with eyes closed and using IPLT (finger to finger or shoulder to shoulder) or no contact, provided 4 trials of 30-s duration in each of 12 posture-touch combinations. Sway (SD of the rate of change of upper trunk position at C7) was reliably less with IPLT compared with no contact, with two exceptions: in normal stance, shoulder contact with a partner in tandem stance, and in tandem Romberg stance, finger contact with a partner in the same stance, increased sway. Otherwise, the reduction in sway was greater with shoulder than with finger contact. Measures of interpersonal synchronization based on cross-correlations and coherence analysis between the partners' C7 movements suggest different control factors operate to reduce sway in IPLT with the hand or shoulder contact.},
	Author = {Johannsen, L. and Wing, A. M and Hatzitaki, V.},
	Doi = {10.1152/jn.00149.2011},
	Issn = {15221598},
	Journal = {Journal of Neurophysiology},
	Number = {1},
	Pages = {216--25},
	Pmid = {21957227},
	Title = {{Contrasting effects of finger and shoulder interpersonal light touch on standing balance.}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/21957227},
	Volume = {107},
	Year = {2012},
	Bdsk-Url-1 = {http://www.ncbi.nlm.nih.gov/pubmed/21957227},
	Bdsk-Url-2 = {http://dx.doi.org/10.1152/jn.00149.2011}}

@article{Kanehiro2004,
	Abstract = {This paper introduces an open architecture humanoid robotics platform (OpenHRP) on which various building blocks of humanoid robotics can be investigated. OpenHRP is a virtual humanoid robot platform with a compatible humanoid robot, and consists of a simulator of humanoid robots and motion control library for them which can also be applied to a compatible humanoid robot as it is. OpenHRP is expected to initiate the exploration of humanoid robotics on an open architecture software and hardware, due to the unification of the controllers and the examined consistency between the simulator and a real humanoid robot.},
	Author = {Kanehiro, Fumio and Hirukawa, Hirohisa and Kajita, Shuuji},
	Doi = {10.1177/0278364904041324},
	Isbn = {0780372727},
	Issn = {02783649},
	Journal = {The International Journal of Robotics Research},
	Number = {2},
	Pages = {155--165},
	Publisher = {IEEE},
	Series = {Springer Tracts in Advanced Robotics},
	Title = {{OpenHRP: Open Architecture Humanoid Robotics Platform}},
	Url = {http://ijr.sagepub.com/cgi/doi/10.1177/0278364904041324},
	Volume = {23},
	Year = {2004},
	Bdsk-Url-1 = {http://ijr.sagepub.com/cgi/doi/10.1177/0278364904041324},
	Bdsk-Url-2 = {http://dx.doi.org/10.1177/0278364904041324}}

@inproceedings{Kanoun2009,
	Author = {Kanoun, O and Lamiraux, F and Wieber, P B and Kanehiro, F and Yoshida, E and Laumond, J P},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	File = {::},
	Pages = {2939--2944},
	Title = {{Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots}},
	Year = {2009}}

@article{Khatib1986,
	Author = {Khatib, O},
	Journal = {The International Journal of Robotics Research},
	Number = {1},
	Pages = {90--98},
	Title = {{Real-Time Obstacle Avoidance for Manipulators and Mobile Robots}},
	Volume = {5},
	Year = {1986}}

@article{Khatib1987,
	Author = {Khatib, Oussama},
	Journal = {IEEE Journal of Robotics and Automation},
	Number = {1},
	Pages = {43--53},
	Title = {{A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation}},
	Volume = {3},
	Year = {1987}}

@article{Kober2010,
	Abstract = {Many motor skills in humanoid robotics can be learned using parametrized motor primitives. While successful applications to date have been achieved with imitation learning, most of the interesting motor learning problems are high-dimensional reinforcement learning problems. These problems are often beyond the reach of current reinforcement learning methods. In this paper, we study parametrized policy search methods and apply these to benchmark problems of motor primitive learning in robotics. We show that many well-known parametrized policy search methods can be derived from a general, common framework. This framework yields both policy gradient methods and expectation-maximization (EM) inspired algorithms. We introduce a novel EM-inspired algorithm for policy learning that is particularly well-suited for dynamical system motor primitives. We compare this algorithm, both in simulation and on a real robot, to several well-known parametrized policy search methods such as episodic REINFORCE, 'Vanilla' Policy Gradients with optimal baselines, episodic Natural Actor Critic, and episodic Reward-Weighted Regression. We show that the proposed method out-performs them on an empirical benchmark of learning dynamical system motor primitives both in simulation and on a real robot. We apply it in the context of motor learning and show that it can learn a complex Ball-in-a-Cup task on a real Barrett WAM robot arm.},
	Author = {Kober, Jens and Peters, Jan},
	Editor = {Koller, D and Schuurmans, D and Bengio, Y and Bottou, L},
	File = {::},
	Journal = {Machine Learning},
	Keywords = {learning,statistics \& optimisation},
	Number = {September},
	Pages = {1--8},
	Publisher = {Citeseer},
	Title = {{Policy search for motor primitives in robotics}},
	Url = {http://eprints.pascal-network.org/archive/00008048/},
	Volume = {21},
	Year = {2010},
	Bdsk-Url-1 = {http://eprints.pascal-network.org/archive/00008048/}}

@inproceedings{Koganezawa2005,
	Abstract = {This paper deals with mechanical stiffness control of multi-DOF joint. It fundamentally mimics skeleton-muscular system of human articulation, in which at least two muscles cooperatively handle one DOF under their antagonistic action. In the first part of the paper one describes a novel actuator called ANLES (actuator with non-linear elastic system) that mimics a skeletal muscle in the sense of having a non-linear elasticity. Next one introduces a basic formula for controlling stiffness of the joint as well as its angles using multiple ANLESes. It follows the evaluation of the proposed formula by the simulation analysis. Three DOF joint manipulated by six or eight tendons that are individually controlled by the ANLES is evaluated with respect to the stiffness control.},
	Author = {Koganezawa, K.},
	Doi = {10.1109/IROS.2005.1545354},
	Isbn = {0780389123},
	booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Pages = {1544--1551},
	Title = {{Mechanical stiffness control for antagonistically driven joints}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1545354},
	Year = {2005},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1545354},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/IROS.2005.1545354}}

@article{Kormushev2011,
	Author = {Kormushev, Petar and Ugurlu, Barkan and Calinon, Sylvain and Tsagarakis, Nikolaos G and Caldwell, Darwin G},
	Isbn = {9781612844558},
	Journal = {Darwin},
	Publisher = {Hogrefe-Verlag},
	Title = {{Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Parameterization}},
	Url = {http://amazon.de/o/ASIN/3801710025/},
	Year = {2011},
	Bdsk-Url-1 = {http://amazon.de/o/ASIN/3801710025/}}

@article{Krishnamoorthy2004,
	Abstract = {Muscle synergies in postural tasks have recently been studied using the framework of the uncontrolled manifold (UCM) hypothesis. A set of three hypothetical control variables, named M-modes, derived from the activity of 11 postural muscles, were identified. It was shown that postural synergies composed of these three M-modes preserve a certain shift of the center of pressure (COP) when subjects perform postural tasks while standing on a stable surface. In the present study we investigated the effects of support surface instability and availability of a light touch or grasp of a stable external support on the M-modes and their co-variation. The study was performed in two sessions. In the first session subjects released a load behind the body under four conditions: standing on a stable surface with no support (ST), standing on an unstable surface with no support (UN), standing on an unstable surface with a light touch (UN,T) and standing on an unstable surface with grasp of a stable object (UN,G). In the second session subjects performed two tasks: an arm movement backward and voluntary sway forward (towards the toes) under three conditions-ST, UN and UN,T. Principal component analysis was used to identify M-modes from data in the first session, and a UCM analysis was performed to study M-mode synergies in postural stabilization from data in the second session. A 'menu' of five M-modes was found, which were named either reciprocal M-modes or co-contraction M-modes based on the agonist-antagonist relationship of muscles comprising each mode. For a given task, subjects chose any three of these five M-modes in a subject- and task-specific manner. The reciprocal and co-contraction M-modes occurred equally frequently whether subjects stood on a stable or unstable support surface or whether a light touch was available or not. However, the co-contraction M-modes predominated when grasp of an object was available. In this condition, when the arm could be used for stabilization, there were M-modes uniting hip and shoulder muscles. However, the identified M-mode synergies were not found to lead to a consistent shift in the COP in any of the stability conditions. Possible reasons for this finding are discussed.},
	Author = {Krishnamoorthy, V. and Latash, M. L and Scholz, J. P. and Zatsiorsky, V. M.},
	Institution = {Deptartment of Kinesiology, Rec. Hall 267L, The Pennsylvania State University, University Park, PA 16802, USA.},
	Journal = {Experimental Brain Research},
	Keywords = {adult,electromyography,electromyography statistics \& numerical data,feedback,feedback physiology,female,fingers,fingers innervation,fingers physiology,hand strength,hand strength physiology,humans,leg,leg innervation,leg physiology,male,muscle,muscle contraction,muscle contraction physiology,postural balance,postural balance physiology,pressure,reflex,reflex physiology,skeletal,skeletal innervation,skeletal physiology,touch,touch physiology,weight bearing,weight bearing physiology},
	Number = {1},
	Pages = {18--31},
	Pmid = {14985897},
	Title = {{Muscle modes during shifts of the center of pressure by standing persons: effect of instability and additional support.}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/14985897},
	Volume = {157},
	Year = {2004},
	Bdsk-Url-1 = {http://www.ncbi.nlm.nih.gov/pubmed/14985897}}

@inproceedings{Kuffner2003,
	Abstract = {Humanoid robotics hardware and control techniques have advanced rapidly during the last five years. Presently, several companies have announced the commercial availability of various humanoid robot prototypes. In order to improve the autonomy and overall functionality of these robots, reliable sensors, safety mechanisms, and general integrated software tools and techniques are needed. We believe that the development of practical motion planning algorithms and obstacle avoidance software for humanoid robots represents an important enabling technology. This paper gives an overview of some of our recent efforts to develop motion planning methods for humanoid robots for application tasks involving navigation, object grasping and manipulation, footstep placement, and dynamically-stable full-body motions. We show experimental results obtained by implementations running within a simulation environment as well as on actual humanoid robot hardware.},
	Author = {Kuffner, J. J. and Nishiwaki, K. and Inaba, M. and Inoue, H.},
	Booktitle = {Proceedings of the International Symposium on Robotics Research},
	Doi = {10.1007/11008941\_39},
	Editor = {Dario, Paolo and Chatila, Raja},
	Isbn = {1849962197},
	Number = {Isrr},
	Pages = {365--374},
	Publisher = {Springer},
	Series = {Springer Tracts in Advanced Robotics},
	Title = {{Motion Planning for Humanoid Robots}},
	Url = {http://www.springerlink.com/content/d866fc3uc388ra9t},
	Volume = {15},
	Year = {2003},
	Bdsk-Url-1 = {http://www.springerlink.com/content/d866fc3uc388ra9t},
	Bdsk-Url-2 = {http://dx.doi.org/10.1007/11008941%5C_39}}

@inproceedings{Kuffner2001,
	Author = {Kuffner, J. and Nishiwaki, K. and Kagami, S. and Inaba, M. and Inoue, H.},
	Doi = {10.1109/ROBOT.2001.932631},
	File = {::},
	Isbn = {0-7803-6576-3},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Pages = {692--698},
	Title = {{Motion planning for humanoid robots under obstacle and dynamic balance constraints}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=932631},
	Year = {2001},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=932631},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ROBOT.2001.932631}}

@article{Latash2010,
	Author = {Latash, M. L. and Levin, M. F. and Scholz, J. P. and Sch\"{o}ner, G.},
	Journal = {Medicina Kaunas Lithuania},
	Number = {6},
	Pages = {382},
	Publisher = {NIH Public Access},
	Title = {{Motor control theories and their applications}},
	Url = {http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3017756/},
	Volume = {46},
	Year = {2010},
	Bdsk-Url-1 = {http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3017756/}}

@book{LaValle2006,
	Author = {LaValle, S. M.},
	Publisher = {Cambridge University Press},
	Title = {{Planning Algorithms}},
	Url = {http://planning.cs.uiuc.edu/},
	Year = {2006},
	Bdsk-Url-1 = {http://planning.cs.uiuc.edu/}}

@article{Leung2009,
	Abstract = {This study investigated whether three posture-transfer strategies, No support, Chair-arm, and Cane, were associated with the smallest hip-compressed angle and the smallest ankle-compressed angle during sit-to-stand and stand-to-sit for 12 elders (M age = 81.3 yr., SD = 5.9) who volunteered to participate. Using an optoelectronic movement analyzer, the smallest compressed angles of the hip and ankle were measured during standing up and sitting down. The adopted strategies had significant effects on the smallest hip-compressed angle, but not the smallest ankle-compressed angle. Although cane use led to a larger trunk angular displacement than did chair-arm use, a cane can provide help during the whole transfer process. These two strategies may be seen as adaptive mechanisms to decrease risk of anterior disequilibrium.},
	Author = {Leung, C.-Y. and Chang, C.-S.},
	Institution = {Tatung University.},
	Journal = {Perceptual and motor skills},
	Number = {3},
	Pages = {695--706},
	Pmid = {20178268},
	Title = {{Strategies for posture transfer adopted by elders during sit-to-stand and stand-to-sit}},
	Url = {http://ovidsp.ovid.com/ovidweb.cgi?T=JS\&CSC=Y\&NEWS=N\&PAGE=fulltext\&D=emed9\&AN=20178268},
	Volume = {109},
	Year = {2009},
	Bdsk-Url-1 = {http://ovidsp.ovid.com/ovidweb.cgi?T=JS%5C&CSC=Y%5C&NEWS=N%5C&PAGE=fulltext%5C&D=emed9%5C&AN=20178268}}

@article{Liegeois1977,
	Author = {Li\'{e}geois, A},
	Journal = {IEEE Transactions on Systems, Man, and Cybernetics},
	Number = {12},
	Pages = {868--871},
	Title = {{Automatic supervisory control of the configuration and behavior of multibody mechanisms}},
	Volume = {7},
	Year = {1977}}

@article{Maciejewski1985,
	Author = {Maciejewski, A and Klein, C},
	Journal = {The International Journal of Robotics Research},
	Number = {3},
	Pages = {109--117},
	Title = {{Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments}},
	Volume = {4},
	Year = {1985}}

@article{Mansard2007,
	Author = {Mansard, N and Chaumette, F},
	File = {::},
	Journal = {IEEE Transactions on Robotics},
	Number = {1},
	Pages = {60--72},
	Title = {{Task sequencing for high-level sensor-based control}},
	Url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=4084570},
	Volume = {23},
	Year = {2007},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/xpls/abs%5C_all.jsp?arnumber=4084570}}

@article{Mansinv2009,
	Author = {Mansard, N and Khatib, O and Kheddar, A},
	Journal = {IEEE Transactions on Robotics},
	Number = {3},
	Pages = {670--685},
	Title = {{A unified approach to integrate unilateral constraints in the stack of tasks}},
	Volume = {25},
	Year = {2009}}

@article{Mergner2007a,
	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},
	File = {::},
	Institution = {Neurological University Clinic, Neurocenter, Breisacher Street 64, 79106 Freiburg, Germany. mergner@uni-freiburg.de},
	Journal = {Progress in Brain Research},
	Keywords = {biological,humans,models,postural balance,posture,proprioception,proprioception physiology},
	Pages = {283--297},
	Pmid = {17925253},
	Publisher = {Elsevier},
	Series = {Progress in Brain Research},
	Title = {{Modeling sensorimotor control of human upright stance.}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/17925253},
	Volume = {165},
	Year = {2007},
	Bdsk-Url-1 = {http://www.ncbi.nlm.nih.gov/pubmed/17925253}}

@article{Mergner2007b,
	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},
	Issn = {0079-6123},
	Journal = {Progress in brain research},
	Keywords = {Humans,Models, Biological,Postural Balance,Posture,Proprioception,Proprioception: physiology},
	Month = jan,
	Pages = {283--97},
	Title = {{Modeling sensorimotor control of human upright stance.}},
	Url = {http://dx.doi.org/10.1016/S0079-6123(06)65018-8},
	Volume = {165},
	Year = {2007},
	Bdsk-Url-1 = {http://dx.doi.org/10.1016/S0079-6123(06)65018-8}}

@article{MettaG._etal2010,
	Abstract = {We describe a humanoid robot platform — the iCub — 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 = {{Metta G.} and {Natale L.} and {Nori F.} and {Sandini G.} and {Vernon D.} and {Fadiga L.} and {von Hofsten C.} and {Rosander K.} and {Santos-Victor J.} and {Bernardino A.} and {Montesano L.}},
	Doi = {10.1016/j.neunet.2010.08.010},
	Issn = {0893-6080},
	Journal = {Neural Networks},
	Number = {Special issue on Social Cognition: From Babies to Robot},
	Pages = {1125--1134},
	Publisher = {Elsevier},
	Title = {{The iCub Humanoid Robot: An Open-Systems Platform for Research in Cognitive Development}},
	Volume = {23},
	Year = {2010},
	Bdsk-Url-1 = {http://dx.doi.org/10.1016/j.neunet.2010.08.010}}

@inproceedings{Migliore2005,
	Abstract = {Biological systems are able to perform movements in unpredictable environments more elegantly than traditionally engineered robotic systems. A current limitation of robotic systems is their inability to simultaneously and independently control both joint angle and joint stiffness without electromechanical feedback loops, which can reduce system stability. In this paper, we describe the development and physical implementation of a servo-actuated robotic joint that uses antagonistic, series-elastic actuation with novel nonlinear spring mechanisms. These mechanisms form a real-time mechanical feedback loop that provides the joint with angle and stiffness control through differential and common-mode actuation of the servos, respectively. This approach to joint control emulates the mechanics of antagonistic muscle groups used by animals, and we experimentally show that it is capable of independently controlling both joint angle and joint stiffness using a simple open-loop control algorithm.},
	Author = {Migliore, S. A. and Brown, E. A. and DeWeerth, S. P.},
	Doi = {10.1109/ROBOT.2005.1570814},
	Isbn = {078038914X},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	month = apr,
	Pages = {4508--4513},
	Title = {{Biologically Inspired Joint Stiffness Control}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1570814},
	Year = {2005},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1570814},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ROBOT.2005.1570814}}

@article{Minato2007,
	Abstract = {This paper presents a new research platform, CB2, a child robot with biomimetic body for cognitive developmental robotics developed by the Socially-Synergistic Intelligence (Hereafter, Socio-SI) group of JST ERATO Asada Project. The Socio-SI group has focused on the design principles of communicative and intelligent machines and human social development through building a humanoid robot that has physical and perceptual structures close to us, that enables safe and close interactions with humans. For this purpose, CB2 was designed, especially in order to establish and maintain a long-term social interaction between human and robot. The most significant features of CB2 are a whole-body soft skin (silicon surface with many tactile sensors underneath) and flexible joints (51 pneumatic actuators). The fundamental capabilities and the preliminary experiments are shown, and the future work is discussed.},
	Author = {Minato, Takashi and Yoshikawa, Yuichiro and Noda, Tomoyuki and Ishiguro, Hiroshi and Asada, Minoru},
	Doi = {10.1109/ICHR.2007.4813926},
	Isbn = {9781424418619},
	Journal = {2007 7th IEEERAS International Conference on Humanoid Robots},
	Pages = {557--562},
	Publisher = {Ieee},
	Title = {{CB2: A child robot with biomimetic body for cognitive developmental robotics}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4813926},
	Year = {2007},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4813926},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ICHR.2007.4813926}}

@inproceedings{Mistry2010b,
	Abstract = {Model-based control methods can be used to enable fast, dexterous, and compliant motion of robots without sacrificing control accuracy. However, implementing such techniques on floating base robots, e.g., humanoids and legged systems, is non-trivial due to under-actuation, dynamically changing constraints from the environment, and potentially closed loop kinematics. In this paper, we show how to compute the analytically correct inverse dynamics torques for model-based control of sufficiently constrained floating base rigid-body systems, such as humanoid robots with one or two feet in contact with the environment. While our previous inverse dynamics approach relied on an estimation of contact forces to compute an approximate inverse dynamics solution, here we present an analytically correct solution by using an orthogonal decomposition to project the robot dynamics onto a reduced dimensional space, independent of contact forces. We demonstrate the feasibility and robustness of our approach on a simulated floating base bipedal humanoid robot and an actual robot dog locomoting over rough terrain.},
	Author = {Mistry, Michael and Buchli, Jonas and Schaal, Stefan},
	Booktitle = {2010 IEEE International Conference on Robotics and Automation},
	Month = may,
	Pages = {3406--3412},
	Publisher = {IEEE},
	Title = {{Inverse dynamics control of floating base systems using orthogonal decomposition}},
	Url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=5509646},
	Year = {2010},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/xpls/abs%5C_all.jsp?arnumber=5509646}}

@article{Mistry2010,
	Abstract = {In this work, we perform the challenging task of a humanoid robot standing up from a chair. First we recorded demonstrations of sit-to-stand motions from normal human subjects as well as actors performing stylized standing motions (e.g. imitating an elderly person). Ground contact force information was also collected for these motions, in order to estimate the humans center of mass trajectory. We then mapped the demonstrated motions to the humanoid robot via an inverse kinematics procedure that attempts to track the humans kinematics as well as their center-of-mass trajectory. In order to estimate the robots center-of-mass position accu- rately, we additionally used an inertial parameter identification technique that fitmass and center-of-mass link parameters from measured force data. We demonstrate the resulting motions on the Carnegie Mellon/Sarcos hydraulic humanoid robot},
	Author = {Mistry, Michael and Murai, Akihiko and Yamane, Katsu and Hodgins, Jessica},
	Doi = {10.1109/ICHR.2010.5686270},
	Isbn = {9781424486908},
	Journal = {Robotics},
	Number = {2},
	Pages = {218--223},
	Publisher = {IEEE},
	Title = {{Sit-to-Stand Task on a Humanoid Robot from Human Demonstration}},
	Url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=5686270},
	Year = {2010},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/xpls/abs%5C_all.jsp?arnumber=5686270},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ICHR.2010.5686270}}

@inproceedings{Mistry2011,
	Address = {Los Angeles, USA},
	Author = {Mistry, M. and Righetti, L.},
	Booktitle = {Proceedings of Robotics: Science and Systems},
	Title = {{Operational Space Control of Constrained and Underactuated Systems}},
	Url = {http://roboticsproceedings.org/rss07/p31.html},
	Year = {2011},
	Bdsk-Url-1 = {http://roboticsproceedings.org/rss07/p31.html}}

@inproceedings{Mistry2009,
	Abstract = {Recently, several controllers have been proposed for humanoid robots which rely on full-body dynamic models. The estimation of inertial parameters from data is a critical component for obtaining accurate models for control. However, floating base systems, such as humanoid robots, incur added challenges to this task (e.g. contact forces must be measured, contact states can change, etc.) In this work, we outline a theoretical framework for whole body inertial parameter estimation, including the unactuated floating base. Using a least squares minimization approach, conducted within the null-space of unmeasured degrees of freedom, we are able to use a partial force sensor set for full-body estimation, e.g. using only joint torque sensors, allowing for estimation when contact force measurement is unavailable or unreliable (e.g. due to slipping, rolling contacts, etc.). We also propose how to determine the theoretical minimum force sensor set for full body estimation, and discuss the practical limitations of doing so.},
	Author = {Mistry, M. and Schaal, S. and Yamane, K.},
	Booktitle = {Proceedings of the IEEE/RAS International Conference on Humanoid Robots},
	Month = dec,
	Pages = {492--497},
	Publisher = {IEEE},
	Title = {{Inertial parameter estimation of floating base humanoid systems using partial force sensing}},
	Url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5379531},
	Year = {2009},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5379531}}

@inproceedings{Mitsunaga2006,
	Abstract = {We believe that robots would take an active part in our daily lives in the near future. Once this time arrives, robots will be expected to have the social skills necessary for interacting with people in addition to the ability to carry out their own tasks. We call an interaction that increases familiarity and makes communication smoother a "social interaction." We have recently developed a human-size humanoid, called "Robovie-IV," which will have the ability to interact with people in their daily lives. This paper discusses the design requirements for human-robot interaction by a communication robot, then introduces an overview of Robovie-IVs hardware and software architectures. There are also preliminary results of a daily experiment that we are currently conducting with Robovie-IV in our office},
	Author = {Mitsunaga, N. and Miyashita, T. and Ishiguro, H. and Kogure, K. and Hagita, N.},
	Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Doi = {10.1109/IROS.2006.282594},
	Isbn = {1424402581},
	Pages = {5066--5072},
	Publisher = {IEEE},
	Title = {{Robovie-IV: A Communication Robot Interacting with People Daily in an Office}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4059225},
	Year = {2006},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4059225},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/IROS.2006.282594}}

@article{Mori2002,
	Author = {Mori, Hiroshi and Hoshino, Jun'ishi},
	Doi = {10.1109/ICASSP.2002.1004686},
	Isbn = {0780309464},
	Journal = {IIEEE International Conference on Acoustics Speech and Signal Processing},
	Number = {3},
	Pages = {IV--IV},
	Publisher = {Ieee},
	Title = {{Independent component analysis and synthesis of human motion}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1004686},
	Volume = {4},
	Year = {2002},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1004686},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ICASSP.2002.1004686}}

@article{Muico2011,
	Author = {Muico, U. and Popovic, J. and Popovic, Z.},
	Journal = {ACM Transactions on Graphics},
	Number = {3},
	Title = {{Composite control of physically simulated characters }},
	Volume = {30},
	Year = {2011}}

@misc{Mukai2008,
	Abstract = {Human-interactive robots, such as those used for nursing, which share humans' environments and interact with them, should be covered with soft areal tactile sensors for safety and dexterous manipulation. We report the successful development of the tactile sensor system of our human-interactive robot named RI-MAN, which can lift up a dummy human.},
	Author = {Mukai, T. and Onishi, M. and Odashima, T. and Hirano, S. and Luo, Z.},
	Booktitle = {IEEE Transactions on Robotics},
	Doi = {10.1109/TRO.2008.917006},
	File = {::},
	Issn = {15523098},
	Keywords = {human interactive robots,tactile sensors,tactile systems},
	Number = {2},
	Pages = {505--512},
	Title = {{Development of the Tactile Sensor System of a Human-Interactive Robot ``RI-MAN''}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4458232},
	Volume = {24},
	Year = {2008},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4458232},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/TRO.2008.917006}}

@inproceedings{Mulling2010,
	Address = {Piscataway, USA},
	Author = {M\"{u}lling, K. and Kober, J. and Peters, J.},
	Booktitle = {Proceedings of the IEEE/RAS International Conference on Humanoid Robots},
	Pages = {411--416},
	Title = {{Learning Table Tennis with a Mixture of Motor Primitives}},
	Year = {2010}}

@article{Nakanishi2008a,
	Author = {Nakanishi, J and Cory, R and Mistry, M and Peters, J and Schaal, S},
	Doi = {10.1177/0278364908091463},
	Issn = {02783649},
	Journal = {The International Journal of Robotics Research},
	Number = {6},
	Pages = {737--757},
	Title = {{Operational space control: A theoretical and emprical comparison}},
	Url = {http://ijr.sagepub.com/cgi/doi/10.1177/0278364908091463},
	Volume = {27},
	Year = {2008},
	Bdsk-Url-1 = {http://ijr.sagepub.com/cgi/doi/10.1177/0278364908091463},
	Bdsk-Url-2 = {http://dx.doi.org/10.1177/0278364908091463}}

@inproceedings{Nakaoka2007,
	Author = {Nakaoka, S. and Hattori, S. and Kanehiro, F. and Kajita, S. and Hirukawa, H.},
	Doi = {10.1109/IROS.2007.4399415},
	Isbn = {9781424409112},
	booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Pages = {3641--3647},
	Title = {{Constraint-based dynamics simulator for humanoid robots with shock absorbing mechanisms}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4399415},
	Year = {2007},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4399415},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/IROS.2007.4399415}}

@inproceedings{Nguyen-tuong2010a,
	Author = {Nguyen-tuong, D. and Peters, J.},
	File = {::},
	Isbn = {9781424450404},
	Issn = {10504729},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Pages = {2677--2682},
	Title = {{Using Model Knowledge for Learning Inverse Dynamics}},
	Url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=5509858},
	Year = {2010},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/xpls/abs%5C_all.jsp?arnumber=5509858}}

@article{Nguyen-Tuong2009,
	Author = {Nguyen-Tuong, D. and Seeger, M. and Peters, J.},
	Journal = {Advanced Robotics},
	Number = {15},
	Pages = {2015--2034},
	Title = {{Model Learning with Local Gaussian Process Regression}},
	Volume = {23},
	Year = {2009}}

@article{Ohmura2007,
	Abstract = {We present realization of a humanoid which can lift a heavy object by whole body contact. Most humanoid motions are limited to the posture of the end-effectors only landing. In principle these humanoids can not do natural motion. If a humanoid robot is allowed arbitrary contact with the surrounding objects, it can improve the performance and operate a heavier object. We propose a "whole body contact motion" of a humanoid robot. It is defined as a control of contact state of a humanoid robot which has the distributed tactile sensors. We develop conformable and scalable tactile skin and an adult-size humanoid with a smooth surfaces for arbitrary contact. We install the skin on the entire surfaces of the humanoid. Finally we describe the humanoid lifting a 30kg box by tactile feedback.},
	Author = {Ohmura, Yoshiyuki and Kuniyoshi, Yasuo},
	Doi = {10.1109/IROS.2007.4399592},
	Isbn = {9781424409112},
	Journal = {2007 IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Pages = {1136--1141},
	Publisher = {Ieee},
	Title = {{Humanoid robot which can lift a 30kg box by whole body contact and tactile feedback}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4399592},
	Year = {2007},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4399592},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/IROS.2007.4399592}}

@misc{Ott2011,
	Abstract = {This paper presents a new balancing control approach for regulating the center of mass position and trunk orientation of a bipedal robot in a compliant way. The controller computes a desired wrench (force and torque) required to recover the posture when an unknown external perturbation has changed the posture of the robot. This wrench is later distributed as forces at predefined contact points via a constrained optimization, which aims at achieving the desired wrench while minimizing the Euclidean norm of the contact forces. The formulation of the force distribution as an optimization problem is adopted from the grasping literature and allows to consider restrictions coming from the friction between the contact points and the ground.},
	Author = {Ott, Christian and Roa, Maximo A and Hirzinger, Gerd},
	Booktitle = {2011 11th IEEERAS International Conference on Humanoid Robots},
	File = {::},
	Institution = {Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany},
	Isbn = {9781612848679},
	Issn = {21640572},
	Pages = {26--33},
	Publisher = {IEEE},
	Title = {{Posture and balance control for biped robots based on contact force optimization}},
	Url = {http://www.robotic.dlr.de/fileadmin/robotic/ott/papers/balancing\_finalv3.pdf},
	Year = {2011},
	Bdsk-Url-1 = {http://www.robotic.dlr.de/fileadmin/robotic/ott/papers/balancing%5C_finalv3.pdf}}

@article{Padois2007,
	Author = {Padois, V and Fourquet, J Y and Chiron, P},
	Journal = {Robotica},
	Number = {2},
	Pages = {157--173},
	Title = {{Kinematic and dynamic model-based control of wheeled mobile manipulators: A unified framework for reactive approaches}},
	Volume = {25},
	Year = {2007}}

@article{Parmiggiani2009a,
	Author = {Parmiggiani, Alberto and Randazzo, Marco and Natale, Lorenzo and Metta, Giorgio and Sandini, Giulio},
	Doi = {10.1109/ICHR.2009.5379525},
	Isbn = {9781424445974},
	Journal = {Technology},
	Pages = {15--20},
	Publisher = {Ieee},
	Title = {{Joint torque sensing for the upper-body of the iCub humanoid robot}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5379525},
	Year = {2009},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5379525},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ICHR.2009.5379525}}

@article{Parmiggiani2009,
	Author = {Parmiggiani, Alberto and Randazzo, Marco and Natale, Lorenzo and Metta, Giorgio and Sandini, Giulio},
	Doi = {10.1109/ICHR.2009.5379525},
	Isbn = {9781424445974},
	Journal = {Technology},
	Pages = {15--20},
	Publisher = {Ieee},
	Title = {{Joint torque sensing for the upper-body of the iCub humanoid robot}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5379525},
	Year = {2009},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5379525},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ICHR.2009.5379525}}

@inproceedings{Parusel2011,
	Author = {Parusel, Sven and Haddadin, Sami},
	Booktitle = {Robotics and Automation},
	File = {::},
	Isbn = {9781612843803},
	Pages = {4298--4305},
	Title = {{Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot}},
	Url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=5980549},
	Year = {2011},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/xpls/abs%5C_all.jsp?arnumber=5980549}}

@article{Peters2008,
	Abstract = {One of the most general frameworks for phrasing control problems for complex, redundant robots is operational-space control. However, while this framework is of essential importance for robotics and well understood from an analytical point of view, it can be prohibitively hard to achieve accurate control in the face of modeling errors, which are inevitable in complex robots (e.g. humanoid robots). In this paper, we suggest a learning approach for operational-space control as a direct inverse model learning problem. A first important insight for this paper is that a physically correct solution to the inverse problem with redundant degrees of freedom does exist when learning of the inverse map is performed in a suitable piecewise linear way. The second crucial component of our work is based on the insight that many operational-space controllers can be understood in terms of a constrained optimal control problem. The cost function associated with this optimal control problem allows us to formulate a learning algorithm that automatically synthesizes a globally consistent desired resolution of redundancy while learning the operational-space controller. From the machine learning point of view, this learning problem corresponds to a reinforcement learning problem that maximizes an immediate reward. We employ an expectation-maximization policy search algorithm in order to solve this problem. Evaluations on a three degrees-of-freedom robot arm are used to illustrate the suggested approach. The application to a physically realistic simulator of the anthropomorphic SARCOS Master arm demonstrates feasibility for complex high degree-of-freedom robots. We also show that the proposed method works in the setting of learning resolved motion rate control on a real, physical Mitsubishi PA-10 medical robotics arm.},
	Author = {Peters, J and Schaal, S},
	Doi = {10.1177/0278364907087548},
	Issn = {02783649},
	Journal = {The International Journal of Robotics Research},
	Number = {2},
	Pages = {197--212},
	Title = {{Learning to Control in Operational Space}},
	Url = {http://ijr.sagepub.com/cgi/doi/10.1177/0278364907087548},
	Volume = {27},
	Year = {2008},
	Bdsk-Url-1 = {http://ijr.sagepub.com/cgi/doi/10.1177/0278364907087548},
	Bdsk-Url-2 = {http://dx.doi.org/10.1177/0278364907087548}}

@article{Peters2008a,
	Author = {Peters, J. and Schaal, S.},
	Journal = {The International Journal Of Robotics Research},
	Pages = {197--212},
	Title = {{Learning to control in operational space}},
	Volume = {27},
	Year = {2008}}

@inproceedings{Peters2009,
	Abstract = {Learning robots that can acquire new motor skills and refine existing one has been a long standing vision of robotics, artificial intelligence, and the cognitive sciences. Early steps towards this goal in the 1980s made clear that reasoning and human insights will not suffice. Instead, new hope has been offered by the rise of modern machine learning approaches. However, to date, it becomes increasingly clear that off-the-shelf machine learning approaches will not suffice for motor skill learning as these methods often do not scale into the high-dimensional domains of manipulator and humanoid robotics nor do they fulfill the real-time requirement of our domain. As an alternative, we propose to break the generic skill learning problem into parts that we can understand well from a robotics point of view. After designing appropriate learning approaches for these basic components, these will serve as the ingredients of a general approach to motor skill learning. In this paper, we discuss our recent and current pro gress in this direction. For doing so, we present our work on learning to control, on learning elementary movements as well as our steps towards learning of complex tasks. We show several evaluations both using real robots as well as physically realistic simulations.},
	Author = {Peters, Jan and M\"{u}lling, K and Kober, Jens and Nguyen-Tuong, D and Kr\"{o}mer, O},
	Doi = {10.1007/978-3-642-19457-3\_28},
	Booktitle = {Proceedings of the International Symposium on Robotics Research},
	Title = {{Towards motor skill learning for robotics}},
	Url = {http://www.kyb.mpg.de/publications/attachments/ISRR2009-Peters\_6069\%5B0\%5D.pdf},
	Year = {2009},
	Bdsk-Url-1 = {http://www.kyb.mpg.de/publications/attachments/ISRR2009-Peters%5C_6069%5C%5B0%5C%5D.pdf},
	Bdsk-Url-2 = {http://dx.doi.org/10.1007/978-3-642-19457-3%5C_28}}

@article{Petrovskaya2007,
	Abstract = {Today most robots interact with the surroundings only with their end-effectors. However there are many benefits to utilizing contact along the entire length of robot body and links especially for human-like robots. Existing control strategies for link contact require knowledge of the contact point. In an uncertain environment, locating link contact point is difficult for most robots as they do not possess skin capable of sensing. We propose a probabilistic approach to link contact estimation based on geometric considerations and compliant motions. Since for many robots, link geometry is also uncertain, we broaden our approach to simultaneously estimate link shape and environment contact. Our experimental results demonstrate that efficiency of control is significantly improved by link contact estimation},
	Author = {Petrovskaya, Anna and Park, Jaeheung and Khatib, Oussama},
	Doi = {10.1109/ROBOT.2007.363047},
	Isbn = {1424406021},
	Issn = {10504729},
	Journal = {Artificial Intelligence},
	Number = {April},
	Pages = {568--573},
	Publisher = {Ieee},
	Title = {{Probabilistic Estimation of Whole Body Contacts for Multi-Contact Robot Control}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4209151},
	Year = {2007},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4209151},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ROBOT.2007.363047}}

@inproceedings{PhilippsenRolandandNejatiNeginandSentis2009,
	Address = {Pasadena, USA},
	Author = {Philippsen, R. and Nejati, N. and Sentis, L.},
	Booktitle = {Proceedings of the International Workshop on Hybrid Control of Autonomous Systems},
	Title = {{Bridging the Gap Between Semantic Planning and Continuous Control for Mobile Manipulation Using a Graph-Based World Representation}},
	Year = {2009}}

@inproceedings{Raunhardt2007,
	Author = {Raunhardt, D and Boulic, R},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Pages = {4414--4419},
	Title = {{Progressive clamping}},
	Year = {2007}}

@inproceedings{Righetti2011b,
	Abstract = {Inverse dynamics controllers and operational space controllers have proved to be very efficient for compliant control of fully actuated robots such as fixed base manipulators. However legged robots such as humanoids are inherently different as they are underactuated and subject to switching external contact constraints. Recently several methods have been proposed to create inverse dynamics controllers and operational space controllers for these robots. In an attempt to compare these different approaches, we develop a general framework for inverse dynamics control and show that these methods lead to very similar controllers. We are then able to greatly simplify recent whole-body controllers based on operational space approaches using kinematic projections, bringing them closer to efficient practical implementations. We also generalize these controllers such that they can be optimal under an arbitrary quadratic cost in the commands.},
	Author = {Righetti, Ludovic and Buchli, Jonas and Mistry, Michael and Schaal, Stefan},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Doi = {10.1109/ICRA.2011.5980156},
	Isbn = {9781612843865},
	Pages = {1085--1090},
	Publisher = {Ieee},
	Title = {{Inverse Dynamics Control of Floating-Base Robots with External Constraints : a Unified View}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5980156},
	Year = {2011},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5980156},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ICRA.2011.5980156}}

@incollection{Rubrecht2010a,
	Author = {Rubrecht, S and Padois, V and Bidaud, P and Broissia, M},
	Booktitle = {Advances in Robot Kinematics: Motion in Man and Machine},
	Chapter = {Constraint},
	Pages = {367--376},
	Publisher = {Springer},
	Title = {{Constraint compliant control for a redundant manipulator in a cluttered environment}},
	Year = {2010}}

@inproceedings{Rubrecht2010b,
	Author = {Rubrecht, S and Padois, V and Bidaud, P and {De Broissia}, M},
	Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Pages = {677--684},
	Title = {{Constraints Compliant Control: constraints compatibility and the displaced configuration approach}},
	Year = {2010}}

@article{RubrechtSebastienandPadoisVincentandBidaudPhilippeanddeBroissiaMichelandDaSilvaSimoes2012,
	Author = {{Rubrecht, Sebastien and Padois, Vincent and Bidaud, Philippe and de Broissia, Michel and Da Silva Simoes}, Max},
	Doi = {10.1007/s10514-011-9264-x},
	Journal = {Autonomous Robots},
	Number = {3},
	Pages = {333--349},
	Title = {{Motion safety and constraints compatibility for multibody robots}},
	Volume = {32},
	Year = {2012},
	Bdsk-Url-1 = {http://dx.doi.org/10.1007/s10514-011-9264-x}}

@phdthesis{Saab2011,
	Author = {Saab, Layale},
	School = {Universit\'{e} de Toulouse III - Paul Sabatier},
	Title = {{Generating Whole Body Movements for Dynamic Anthropomorphic Systems under Constraints}},
	Year = {2011}}

@article{Saha2012,
	Author = {Saha, Devjani and Morasso, Pietro},
	Journal = {PLoS One},
	Number = {1},
	Title = {{ Stabilization strategies for unstable dynamics}},
	Url = {http://www.plosone.org/article/info\%3Adoi\%2F10.1371\%2Fjournal.pone.0030301},
	Volume = {7},
	Year = {2012},
	Bdsk-Url-1 = {http://www.plosone.org/article/info%5C%3Adoi%5C%2F10.1371%5C%2Fjournal.pone.0030301}}

@article{Sala2009,
	Author = {Sala\"{u}n, C. and Padois, V. and Sigaud, O.},
	Journal = {Anticipatory Behavior in Adaptive Learning Systems},
	Pages = {229--246},
	Publisher = {Springer},
	Title = {{A Two-Level Model of Anticipation-Based Motor Learning for Whole Body Motion}},
	Url = {http://www.springerlink.com/index/28435248513R64K4.pdf},
	Year = {2009},
	Bdsk-Url-1 = {http://www.springerlink.com/index/28435248513R64K4.pdf}}

@incollection{Salaun2010,
	Author = {Sala\"{u}n, C. and Padois, V. and Sigaud, O.},
	Booktitle = {From Motor Learning to Interaction Learning in Robots},
	Chapter = {2},
	Edition = {1st},
	Editor = {Sigaud, O. and Peters, J.},
	Pages = {169--192},
	Publisher = {Springer Verlag},
	Title = {{Learning Forward Models for the Operational Space Control of Redundant Robots}},
	Year = {2010}}

@inproceedings{salini2011b,
	Address = {Paris, France},
	Author = {Salini, J. and Padois, V. and Ibanez, A. and Bidaud, Ph. and Buendia, A.},
	Booktitle = {Proceedings of the 14th CLAWAR International Conference},
	Month = sep,
	Title = {{A Goal driven perspective to generate humanoid motion synthesis}},
	Year = {2011}}

@inproceedings{Salini2011,
	Address = {Shanghai, China},
	Author = {Salini, J. and Padois, V. and Bidaud, P.},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Doi = {10.1109/ICRA.2011.5980202},
	Isbn = {978-1-61284-386-5},
	Month = may,
	Pages = {1283--1290},
	Title = {{Synthesis of complex humanoid whole-body behavior: A focus on sequencing and tasks transitions}},
	Url = {http://hal.archives-ouvertes.fr/hal-00578073/ http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5980202},
	Year = {2011},
	Bdsk-Url-1 = {http://hal.archives-ouvertes.fr/hal-00578073/%20http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5980202},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ICRA.2011.5980202}}

@inproceedings{Salisbury1988,
	Abstract = {An approach to manipulation that uses all the available manipulation surfaces of the robot to act on and sense the environment is outlined. The kinematic, mechanism, actuation, and control implications of such a design are discussed and initial experimentation with a prototype mechanism are described. A three-degree-of-freedom underwater manipulator using a number of the resulting design concepts is described},
	Author = {Salisbury, K. and Townsend, W. and Ebrman, B. and DiPietro, D.},
	Doi = {10.1109/ROBOT.1988.12057},
	Isbn = {0818608528},
	booktitle = {Proceddings of the IEEE International Conference on Robotics and Automation},
	Pages = {254--260},
	Title = {{Preliminary design of a whole-arm manipulation system (WAMS)}},
	Url = {http://ieeexplore.ieee.org/xpl/freeabs\_all.jsp?arnumber=12057},
	Year = {1988},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/xpl/freeabs%5C_all.jsp?arnumber=12057},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ROBOT.1988.12057}}

@article{Schaal2002,
	Author = {Schaal, Stefan and Atkeson, Christopher G. and Vijayakumar, Sethu},
	Journal = {Applied Intelligence},
	Number = {1},
	Pages = {49--60},
	Title = {{Scalable techniques from nonparameteric statistics for real-time robot learning}},
	Volume = {17},
	Year = {2002}}

@article{Schaal2002a,
	Author = {Schaal, S. and Atkeson, C. G. and Vijayakumar, S.},
	Journal = {Applied Intelligence},
	Number = {1},
	Pages = {49--60},
	Title = {{Scalable techniques from nonparameteric statistics for real-time robot learning}},
	Volume = {17},
	Year = {2002}}

@article{Schaal2004,
	Abstract = {This paper discusses a comprehensive framework for modular motor control based on a recently developed theory of dynamic movement primitives (DMP). DMPs are a formulation of movement primitives with autonomous nonlinear differential equations, whose time evolution creates smooth kinematic control policies. Model-based control theory is used to convert the outputs of these policies into motor commands. By means of coupling terms, on-line modifications can be incorporated into the time evolution of the differential equations, thus providing a rather flexible and reactive framework for motor planning and execution. The linear parameterization of DMPs lends itself naturally to supervised learning from demonstration. Moreover, the temporal, scale, and translation invariance of the differential equations with respect to these parameters provides a useful means for movement recognition. A novel reinforcement learning technique based on natural stochastic policy gradients allows a general approach of improving DMPs by trial and error learning with respect to almost arbitrary optimization criteria. We demonstrate the different ingredients of the DMP approach in various examples, involving skill learning from demonstration on the humanoid robot DB, and learning biped walking from demonstration in simulation, including self-improvement of the movement patterns towards energy efficiency through resonance tuning.},
	Author = {Schaal, Stefan and Peters, Jan and Nakanishi, Jun and Ijspeert, Auke},
	Doi = {10.1007/11008941\_60},
	Editor = {Dario, Paolo and Chatila, Raja},
	File = {::},
	Isbn = {9781612848686},
	Journal = {Motor Control},
	Pages = {1--10},
	Publisher = {Springer},
	Series = {Springer Tracts in Advanced Robotics},
	Title = {{Learning Movement Primitives}},
	Url = {http://www.springerlink.com/index/96lj3frlnapewn5x.pdf},
	Volume = {15},
	Year = {2004},
	Bdsk-Url-1 = {http://www.springerlink.com/index/96lj3frlnapewn5x.pdf},
	Bdsk-Url-2 = {http://dx.doi.org/10.1007/11008941%5C_60}}

@article{Schmitz2011,
	Author = {Schmitz, A. and Maiolino, P. and Maggiali, M. and Natale, L. and Cannata, G. and Metta, G.},
	Journal = {IEEE Transactions on Robotics},
	Title = {{Methods and Technologies for the Implementation of Large Scale Robot Tactile Sensors}},
	volume = 27,
	number = 3,
	Year = {2011}}

@article{Scholz1999,
	Abstract = {The degrees of freedom problem is often posed by asking which of the many possible degrees of freedom does the nervous system control? By implication, other degrees of freedom are not controlled. We give an operational meaning to "controlled" and "uncontrolled" and describe a method of analysis through which hypotheses about controlled and uncontrolled degrees of freedom can be tested. In this conception, control refers to stabilization, so that lack of control implies reduced stability. The method was used to analyze an experiment on the sit-to-stand transition. By testing different hypotheses about the controlled variables, we systematically approximated the structure of control in joint space. We found that, for the task of sit-to-stand, the position of the center of mass in the sagittal plane was controlled. The horizontal head position and the position of the hand were controlled less stably, while vertical head position appears to be no more controlled than joint motions.},
	Author = {Scholz, J. P. and Sch\"{o}ner, G.},
	Institution = {Physical Therapy Department, McKinly Laboratory, University of Delaware, Newark 19716, USA. jpscholz@udel.edu},
	Journal = {Experimental Brain Research},
	Keywords = {biological,biomechanics,central nervous system,central nervous system physiology,gravitation,hand,hand physiology,head,head physiology,humans,joints,joints physiology,models,motor activity,motor activity physiology,posture,posture physiology},
	Number = {3},
	Pages = {289--306},
	Pmid = {10382616},
	Publisher = {Springer},
	Title = {{The uncontrolled manifold concept: identifying control variables for a functional task.}},
	Url = {http://www.ncbi.nlm.nih.gov/pubmed/10382616},
	Volume = {126},
	Year = {1999},
	Bdsk-Url-1 = {http://www.ncbi.nlm.nih.gov/pubmed/10382616}}

@article{Sentis2005,
	Author = {Sentis, L and Khatib, O},
	Journal = {The International Journal of Humanoid Robotics},
	Number = {4},
	Pages = {505--518},
	Title = {{Synthesis of whole-body behaviors through hierarchical control of behavioral primitives}},
	Volume = {2},
	Year = {2005}}

@article{Sentis2010,
	Abstract = {This paper presents a new methodology for the analysis and control of internal forces and center-of-mass (CoM) behavior, which are produced during multicontact interactions between humanoid robots and the environment. The approach leverages the virtual-linkage model that provides a physical representation of the internal and CoM resultant forces with respect to reaction forces on the supporting surfaces. A grasp/contact matrix describing the complex interactions between contact forces and CoM behavior is developed. Based on this model, a new torque-based approach for the control of internal forces is suggested and illustrated on the Asimo humanoid robot. The new controller is integrated into the framework for whole-body-prioritized multitasking, thus enabling the unified control of CoM maneuvers, operational tasks, and internal-force behavior. The grasp/contact matrix is also proposed to analyze and plan internal force and CoM control policies that comply with frictional properties of the links in contact.},
	Author = {Sentis, L. and Park, J. and Khatib, O.},
	Doi = {10.1109/TRO.2010.2043757},
	File = {::},
	Issn = {15523098},
	Journal = {IEEE Transactions on Robotics},
	Number = {3},
	Pages = {483--501},
	Publisher = {IEEE},
	Title = {{Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5451086},
	Volume = {26},
	Year = {2010},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5451086},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/TRO.2010.2043757}}

@incollection{Sentis2008,
	Author = {Sentis, L.},
	Booktitle = {Motion Planning for Humanoid Robots},
	File = {::},
	Publisher = {Springer},
	Title = {{Compliant Control of Whole-Body Multi-Contact Behaviors in Humanoid Robots}},
	Year = {2008}}

@article{Sentis2006,
	Author = {Sentis, L. and Khatib, O.},
	File = {::},
	Isbn = {0780395050},
	Journal = {Artificial Intelligence},
	Number = {May},
	Pages = {2641--2648},
	Title = {{A Whole-Body Control Framework for Humanoids Operating in Human Environments}},
	Year = {2006}}

@article{Shadmehr1994a,
	Abstract = {We investigated how the CNS learns to control movements in different dynamical conditions, and how this learned behavior is represented. In particular, we considered the task of making reaching movements in the presence of externally imposed forces from a mechanical environment. This environment was a force field produced by a robot manipulandum, and the subjects made reaching movements while holding the end-effector of this manipulandum. Since the force field significantly changed the dynamics of the task, subjects' initial movements in the force field were grossly distorted compared to their movements in free space. However, with practice, hand trajectories in the force field converged to a path very similar to that observed in free space. This indicated that for reaching movements, there was a kinematic plan independent of dynamical conditions. The recovery of performance within the changed mechanical environment is motor adaptation. In order to investigate the mechanism underlying this adaptation, we considered the response to the sudden removal of the field after a training phase. The resulting trajectories, named aftereffects, were approximately mirror images of those that were observed when the subjects were initially exposed to the field. This suggested that the motor controller was gradually composing a model of the force field, a model that the nervous system used to predict and compensate for the forces imposed by the environment. In order to explore the structure of the model, we investigated whether adaptation to a force field, as presented in a small region, led to aftereffects in other regions of the workspace. We found that indeed there were aftereffects in workspace regions where no exposure to the field had taken place; that is, there was transfer beyond the boundary of the training data. This observation rules out the hypothesis that the subject's model of the force field was constructed as a narrow association between visited states and experienced forces; that is, adaptation was not via composition of a look-up table. In contrast, subjects modeled the force field by a combination of computational elements whose output was broadly tuned across the motor state space. These elements formed a model that extrapolated to outside the training region in a coordinate system similar to that of the joints and muscles rather than end-point forces. This geometric property suggests that the elements of the adaptive process represent dynamics of a motor task in terms of the intrinsic coordinate system of the sensors and actuators.},
	Author = {Shadmehr, R. and Mussa-Ivaldi, F. A.},
	Institution = {Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology, Cambridge 02139.},
	Journal = {Journal of Neuroscience},
	Number = {5/2},
	Pages = {3208--3224},
	Pmid = {8182467},
	Title = {{Adaptive representation of dynamics during learning of a motor task.}},
	Url = {http://www.jneurosci.org/cgi/content/abstract/14/5/3208},
	Volume = {14},
	Year = {1994},
	Bdsk-Url-1 = {http://www.jneurosci.org/cgi/content/abstract/14/5/3208}}

@article{Shibata2001,
	Author = {Shibata, T and Tanie, K},
	Doi = {10.1109/ROBOT.2001.933010},
	Isbn = {0780365763},
	Journal = {Proceedings 2001 ICRA IEEE International Conference on Robotics and Automation Cat No01CH37164},
	Pages = {2572--2577},
	Publisher = {Ieee},
	Title = {{Physical and affective interaction between human and mental commit robot}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=933010},
	Volume = {3},
	Year = {2001},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=933010},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ROBOT.2001.933010}}

@book{Sigaud2010,
	Author = {Sigaud, Olivier and Peters, Jan},
	Publisher = {Springer},
	Title = {{From Motor Learning to Interaction Learning in Robots}},
	Year = {2010}}

@article{Slijper2000,
	Abstract = {We investigated the role of additional perceptual information (finger touch) and additional mechanical support (hand grasp) on the anticipatory postural adjustments (APAs) associated with fast arm movements performed by standing subjects. The subjects performed fast, unilateral shoulder ante-flexion movements while standing on a stable force platform or on an unstable board with instability in a sagittal or in a frontal plane. Changes in the background activity of leg, trunk, and arm muscles and displacements of the center of pressure were quantified within time intervals typical for APAs. Leg and trunk muscles showed a significant drop in APAs with added finger touch and no further changes when the touch was substituted with hand grasp. Arm muscles showed no changes or a small drop in APAs with touch and a significant increase in APAs with grasp. These changes were seen during both stable and unstable standing. We conclude that APAs can show changes associated not only with mechanical aspects of a task, but also with its perceptual aspects. Based on the equilibrium-point hypothesis of motor control, an additional analysis of APAs was performed. With additional support, we observed a significant modulation of an index related to the co-activation of agonist-antagonist muscle pairs, while no changes in reciprocal activation were found. A similar analysis performed across all the leg and trunk muscles with respect to control of the center of mass lead to similar results. We conclude that the central nervous system seems to simplify adjustments of control patterns to changes in task parameters by modulation of only one of the two major central commands.},
	Author = {Slijper, H. and Latash, M.},
	Institution = {Department of Kinesiology, The Pennsylvania State University, University Park 16802, USA.},
	Journal = {Experimental Brain Research},
	Keywords = {adjustments,anticipatory postural,electromyogram,equilibrium point hypothesis,h,human,latash,m,slijper,vertical posture},
	Number = {1},
	Pages = {81--93},
	Pmid = {11104130},
	Title = {{The effects of instability and additional hand support on anticipatory postural adjustments in leg, trunk, and arm muscles during standing}},
	Url = {http://www.springerlink.com/openurl.asp?genre=article\&id=doi:10.1007/s002210000492},
	Volume = {135},
	Year = {2000},
	Bdsk-Url-1 = {http://www.springerlink.com/openurl.asp?genre=article%5C&id=doi:10.1007/s002210000492}}

@article{Steil2011,
	Author = {Steil, Jochen and Partner, Lead},
	File = {::},
	Journal = {October},
	Number = {November},
	Title = {{EU FP7 AMARSi Adaptive Modular Architectures for Rich Motor Skills Technical report on describing the archetype architectures From Annex 1 :}},
	Year = {2011}}

@article{Stephens2010b,
	Abstract = {This paper presents a model-based method, called Dynamic Balance Force Control (DBFC), for determining full body joint torques based on desired COM motion and contact forces for compliant humanoid robots. The center of mass (COM) dynamics are affected directly through contact force control to achieve stable balance. This idea is used to formulate DBFC considering the full rigid-body dynamics of the robot to produce desired contact forces. To achieve generic force control tasks, a virtual model controller, DBFC-VMC, is presented. Results presented from experiments on a force-controlled humanoid robot and simulation demonstrate the general purpose use of this control.},
	Author = {Stephens, Benjamin J and Atkeson, Christopher G},
	Doi = {10.1109/IROS.2010.5648837},
	File = {::},
	Isbn = {9781424466764},
	Issn = {21530858},
	Journal = {International Conference on Intelligent Robots and Systems (IROS)},
	Pages = {1248--1255},
	Publisher = {IEEE},
	Title = {{Dynamic Balance Force Control for Compliant Humanoid Robots}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5648837},
	Year = {2010},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5648837},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/IROS.2010.5648837}}

@article{Stilman2006,
	Abstract = {This paper explores autonomous locomotion, reaching, grasping and manipulation for the domain of navigation among movable obstacles (NAMO). The robot perceives and constructs a model of an environment filled with various fixed and movable obstacles, and automatically plans a navigation strategy to reach a desired goal location. The planned strategy consists of a sequence of walking and compliant manipulation operations. It is executed by the robot with online feedback. We give an overview of our NAMO system, as well as provide details of the autonomous planning, online grasping and compliant hand positioning during dynamically-stable walking. Finally, we present results of a successful implementation running on the humanoid robot HRP-2},
	Author = {Stilman, Mike and Nishiwaki, Koichi and Kagami, Satoshi and Kuffner, James J},
	Doi = {10.1163/156855307782227408},
	Issn = {01691864},
	Journal = {Advanced Robotics},
	Number = {14},
	Pages = {820--826},
	Publisher = {IEEE},
	Title = {{Planning and executing navigation among movable obstacles}},
	Url = {http://openurl.ingenta.com/content/xref?genre=article\&issn=0169-1864\&volume=21\&issue=14\&spage=1617},
	Volume = {21},
	Year = {2006},
	Bdsk-Url-1 = {http://openurl.ingenta.com/content/xref?genre=article%5C&issn=0169-1864%5C&volume=21%5C&issue=14%5C&spage=1617},
	Bdsk-Url-2 = {http://dx.doi.org/10.1163/156855307782227408}}

@inproceedings{Stulp2011a,
	Abstract = {Temporal abstraction and task decomposition drastically reduce the search space for planning and control, and are fundamental to making complex tasks amenable to learning. In the context of reinforcement learning, temporal abstractions are studied within the paradigm of hierarchical reinforcement learning.},
	Author = {Stulp, F. and Schaal, S.},
	Booktitle = {Proceedings of the IEEE/RAS International Conference on Humanoid Robots},
	Isbn = {9781612848679},
	Issn = {21640572},
	Pages = {231--238},
	Title = {{Hierarchical reinforcement learning with movement primitives}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5486837},
	Year = {2011},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5486837}}
	
@InProceedings{DelPrete2011,
  Title                    = {Skin spatial calibration using force/torque measurements},
  Author                   = {Del Prete, A. and Denei, S. and Natale, L. and Mastrogiovanni, F. and Nori, F. and Cannata, G. and Metta, G.},
  Booktitle                = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
  Year                     = {2011},
  Pages                    = {3694--3700}
}

@article{Tikhanoff2008a,
	Abstract = {The authors present the prototype of a new computer simulator for the humanoid robot iCub Fig. 1 (a). The iCub is a new open-source humanoid robot developed as a result of the RobotCub project 1, a collaborative European project aiming at developing a new open-source cognitive robotics platform. The iCub simulator has been developed as part of a joint effort with the European project iTalk on the integration and transfer of action and language knowledge in cognitive robots. This is available open-source to all researchers interested in cognitive robotics experiments with the iCub humanoid platform.},
	Author = {Tikhanoff, V and Fitzpatrick, P and Nori, F and Natale, L and Metta, G and Cangelosi, A},
	Doi = {10.1145/1774674.1774683},
	File = {::},
	Isbn = {9781605582931},
	Journal = {Advanced Robotics},
	Number = {1},
	Pages = {50},
	Publisher = {ACM Press},
	Series = {PerMIS '08},
	Title = {{The iCub Humanoid Robot Simulator}},
	Url = {http://doi.acm.org/10.1145/1774674.1774683},
	Volume = {1},
	Year = {2008},
	Bdsk-Url-1 = {http://doi.acm.org/10.1145/1774674.1774683},
	Bdsk-Url-2 = {http://dx.doi.org/10.1145/1774674.1774683}}

@inproceedings{Tikhanoff2008,
	Author = {Tikhanoff, V. and Cangelosi, A. and Fitzpatrick, P. and Metta, G. and Natale, L. and Nori, F.},
	Booktitle = {Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems},
	File = {::},
	Keywords = {icub humanoid robot,open-source,simulator},
	Pages = {57--61},
	Publisher = {ACM},
	Title = {{An open-source simulator for cognitive robotics research: the prototype of the iCub humanoid robot simulator}},
	Url = {http://portal.acm.org/citation.cfm?id=1774684},
	Year = {2008},
	Bdsk-Url-1 = {http://portal.acm.org/citation.cfm?id=1774684}}

@inproceedings{Tonietti2005,
	Abstract = {This paper is concerned with the design and control of actuators for machines and robots physically interacting with humans, implementing criteria established in our previous work 1 on optimal mechanical-control co-design for intrinsically safe, yet performant machines. In our Variable Impedance Actuation (VIA) approach, actuators control in real-time both the reference position and the mechanical impedance of the moving parts in the machine in such a way to optimize performance while intrinsically guaranteeing safety. In this paper we describe an implementation of such concepts, consisting of a novel electromechanical Variable Stiffness Actuation (VSA) motor. The design and the functioning principle of the VSA are reported, along with the analysis of its dynamic behavior. A novel scheme for feedback control of this device is presented, along with experimental results showing performance and safety of a one-link arm actuated by the VSA motor.},
	Author = {Tonietti, G. and Schiavi, R. and Bicchi, A.},
	Doi = {10.1109/ROBOT.2005.1570172},
	Isbn = {078038914X},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	month = apr,
	Pages = {526--531},
	Title = {{Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1570172},
	Year = {2005},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1570172},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ROBOT.2005.1570172}}


	
@inproceedings{Tsagarakis2011,
  title={The design of the lower body of the compliant humanoid robot ``cCub''},
  author={Tsagarakis, N. G. and Li, Z. and Saglia, J. and Caldwell, D. G.},
  booktitle={Proceedings of the IEEE International Conference on Robotics and Automation},
  year={2011}
}

@article{Wada2007,
	Abstract = {Robot therapy for elderly residents in a care house has been conducted since June 2005. Two therapeutic seal robots were introduced and activated for over 9 hours every day to interact with the residents. This paper presents a progress report of this experiment. In order to investigate the psychological and social effects of the robots, each subject was interviewed by using the free pile sort method, and their subjective social network was analysed. In addition, the activities of the residents in public areas were recorded by video cameras during daytime hours (8:30-18:00) for over 2 months. Then, their social network was analysed from the video data objectively. The results showed that the density of the social networks was increased through interaction with the robots subjectively and objectively.},
	Author = {Wada, Kazuyoshi and Shibata, Takanori},
	Doi = {10.1109/ROBOT.2007.363156},
	Isbn = {1424406021},
	Issn = {10504729},
	Journal = {Systems Research},
	Number = {April},
	Pages = {10--14},
	Publisher = {IEEE},
	Title = {{Social Effects of Robot Therapy in a Care House - Change of Social Network of the Residents for Two Months}},
	Url = {http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=4209260},
	Volume = {13},
	Year = {2007},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/xpls/abs%5C_all.jsp?arnumber=4209260},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ROBOT.2007.363156}}

@inproceedings{Wieber2006b,
	Abstract = {Primarily developed for research needs in humanoid robotics, the HuMAnS toolbox (for Humanoid Motion Analysis and Simulation) also includes a biomechanical model of a complete human body, and proposes a set of versatile tools for the modeling, the capture, the analysis and the simulation of human and humanoid motion. This set of tools is organized as a homogenous framework built on top of the numerical facilities of Scilab, a free generic scientific package, so as to allow genericity and versatility of use, in the hope to enable a new dialogue between direct and inverse dynamics, motion capture and simulation, all of this in a rich scientific software environment. Noticeably, this toolbox is an open-source software, distributed under the GPL License.},
	Author = {Wieber, Pierre-Brice and Billet, Florence and Boissieux, Laurence and Pissard-Gibollet, Roger},
	Booktitle = {International Symposium on the 3D Analysis of Human Movement},
	Organization = {Citeseer},
	Publisher = {Citeseer},
	Title = {{The HuMAnS toolbox, a Homogenous framework for Motion capture, Analysis and Simulation}},
	Url = {http://hal.inria.fr/inria-00390447/en/},
	Year = {2006},
	Bdsk-Url-1 = {http://hal.inria.fr/inria-00390447/en/}}

@inproceedings{Wieber2006a,
	Abstract = {Primarily developed for research needs in humanoid robotics, the HuMAnS toolbox (for Humanoid Motion Analysis and Simulation) also includes a biomechanical model of a complete human body, and proposes a set of versatile tools for the modeling, the capture, the analysis and the simulation of human and humanoid motion. This set of tools is organized as a homogenous framework built on top of the numerical facilities of Scilab, a free generic scientific package, so as to allow genericity and versatility of use, in the hope to enable a new dialogue between direct and inverse dynamics, motion capture and simulation, all of this in a rich scientific software environment. Noticeably, this toolbox is an open-source software, distributed under the GPL License.},
	Author = {Wieber, Pierre-Brice and Billet, Florence and Boissieux, Laurence and Pissard-Gibollet, Roger},
	Booktitle = {International Symposium on the 3D Analysis of Human Movement},
	Organization = {Citeseer},
	Publisher = {Citeseer},
	Title = {{The HuMAnS toolbox, a Homogenous framework for Motion capture, Analysis and Simulation}},
	Url = {http://hal.inria.fr/inria-00390447/en/},
	Year = {2006},
	Bdsk-Url-1 = {http://hal.inria.fr/inria-00390447/en/}}

@article{Wu2010,
	Author = {Wu, Jun and Wang, Jinsong and You, Zheng},
	Doi = {10.1016/j.rcim.2010.03.013},
	Issn = {07365845},
	Journal = {Robotics and ComputerIntegrated Manufacturing},
	Keywords = {dynamic parameters,identification,robot,trajectory optimization},
	Number = {5},
	Pages = {414--419},
	Publisher = {Elsevier},
	Title = {{An overview of dynamic parameter identification of robots}},
	Url = {http://linkinghub.elsevier.com/retrieve/pii/S0736584510000232},
	Volume = {26},
	Year = {2010},
	Bdsk-Url-1 = {http://linkinghub.elsevier.com/retrieve/pii/S0736584510000232},
	Bdsk-Url-2 = {http://dx.doi.org/10.1016/j.rcim.2010.03.013}}

@article{Yamamoto2008,
	Author = {Yamamoto, Tomoyuki and Terada, Koji and Kuniyoshi, Yasuo},
	Isbn = {9781424428229},
	Journal = {Science And Technology},
	Pages = {251--258},
	Title = {{Lifting Techniques for the Humanoid Robots : Insights from Human Movements}},
	Year = {2008}}

@inproceedings{Yamane2006a,
	Author = {Yamane, K. and Nakamura, Y.},
	Booktitle = {Proceedings of the IEEE/RAS International Conference on Humanoid Robots},
	Date-Modified = {2015-05-21 10:10:38 +0000},
	Doi = {10.1109/ICHR.2006.321328},
	Isbn = {1424401992},
	Keywords = {modelling + kinematics dynamics + software pla},
	Pages = {554--559},
	Title = {{Parallel O(log N) Algorithm for Dynamics Simulation of Humanoid Robots}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4115658},
	Year = {2006},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4115658},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ICHR.2006.321328}}

@article{Yang2011,
	Abstract = {This paper presents a novel human-like learning con- troller to interact with unknown environments. Strictly derived from the minimization of instability, motion error, and effort, the controller compensates for the disturbance in the environment in interaction tasks by adapting feedforward force and impedance. In contrast with conventional learning controllers, the new controller can deal with unstable situations that are typical of tool use and gradually acquire a desired stabilitymargin. Simulations showthat this controller is a good model ofhumanmotor adaptation.Robotic implementations further demonstrate its capabilities to optimally adapt interactionwith dynamic environments and humans in joint torque controlled robots and variable impedance actuators, with- out requiring interaction force sensing.},
	Author = {Yang, Chenguang and Ganesh, Gowrishankar and Haddadin, Sami},
	Doi = {10.1109/TRO.2011.2158251},
	Issn = {15523098},
	Journal = {IEEE Transactions on Robotics},
	Number = {5},
	Pages = {918--930},
	Publisher = {IEEE},
	Title = {{Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions}},
	Url = {http://ieeexplore.ieee.org/ielx5/8860/6032150/05940238.pdf?tp=\&arnumber=5940238\&isnumber=6032150},
	Volume = {27},
	Year = {2011},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/ielx5/8860/6032150/05940238.pdf?tp=%5C&arnumber=5940238%5C&isnumber=6032150},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/TRO.2011.2158251}}

@inproceedings{yoshida2005,
	Address = {Tsukuba, Japan},
	Author = {Yoshida, E. and Belousov, I. and Esteves, C. and Laumond, J.-P.},
	Booktitle = {Proceedings of the IEEE/RAS International Conference on Humanoid Robots},
	Title = {{Humanoid Motion Planning for Dynamic Tasks}},
	Year = {2005}}

@article{Yoshida2008,
	Author = {Yoshida, Eiichi and Esteves, Claudia and Belousov, Igor and Laumond, Jean-paul and Sakaguchi, Takeshi and Yokoi, Kazuhito},
	File = {::},
	Keywords = {uncomplete},
	Mendeley-Tags = {uncomplete},
	Number = {5},
	Pages = {1186--1198},
	Title = {{Planning 3-D Collision-Free Dynamic Robotic Motion Through Iterative Reshaping}},
	Volume = {24},
	Year = {2008}}

@article{Yoshikai2007,
	Author = {Yoshikai, Tomoaki and Hayashi, Marika and Ishizaka, Yui and Sagisaka, Takashi and Inaba, Masayuki},
	Doi = {10.1109/ICHR.2007.4813856},
	Isbn = {9781424418619},
	Journal = {2007 7th IEEERAS International Conference on Humanoid Robots},
	Pages = {109--114},
	Publisher = {Ieee},
	Title = {{Behavior integration for whole-body close interactions by a humanoid with soft sensor flesh}},
	Url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4813856},
	Year = {2007},
	Bdsk-Url-1 = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4813856},
	Bdsk-Url-2 = {http://dx.doi.org/10.1109/ICHR.2007.4813856}}


@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 = {Proceedings of the Conference on Neural Information Processing Systems},
	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 IEEE/RSJ 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, T. A. and Marigold, D. S. and Robinovitch, S. 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, D. A.},
	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 = {The 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, N. and Ostermeier, A.},
	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},
	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, A. and Bidaud, P. and Padois, V.},
	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, A. and Bidaud, P. 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},
	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, A. and Bidaud, P. and Padois, V.},
	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, M. and Tan, Y. and Padois, V.},
	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, M. and Lober, R. and Padois, V.},
	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},
  year = {2015},
  month = sep,
  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 = {Modugno, V. and Neumann, G. and Rueckert, E. and Oriolo, G. and Peters, J. and Ivaldi, S.},
	Booktitle = {Proceedings of the 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 = {The 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, J.},
	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 = jun,
	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, USA},
	Author = {Tsagarakis, N. G. and Vanderborght, B. and Laffranchi, M. and Caldwell, D. G.},
	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},
	Isbn = {978-1-4244-3803-7},
	Pages = {4962--4968},
	Title = {The mechanical design of the new lower body for the child humanoid robot ``i{C}ub''},
	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 = {Ijspeert, A. J. and Nakanishi, J. and Schaal, S.},
	Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	Date-Added = {2015-05-11 15:55:47 +0000},
	Date-Modified = {2015-05-11 15:55:47 +0000},
	Month = sep,
	Pages = {958--963},
	Title = {Learning rhythmic movements by demonstration using nonlinear oscillators},
	Year = {2002}}

@article{Peternel2013,
	Author = {Peternel, L. 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},
	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, L. and Petri\v{c}, T. and Babi\v{c}, J.},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Date-Added = {2015-05-11 15:55:47 +0000},
	Date-Modified = {2015-05-11 15:55:47 +0000},
	Month = may,
	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 Computation},
	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, R. and {Orban de Xivry}, J.-J. and Xu, W.},
	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 = {The 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 = {The 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, J. A. and Peters, J.},
	Date-Modified = {2015-05-12 11:14:05 +0000},
	Journal = {The International Journal Of Robotics Research},
	Pages = {1238--1274},
	Title = {Reinforcement Learning in Robotics: a Survey},
	Volume = {32},
	Number = {11},
	Year = {2013}}

@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 = {The 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},
	Number = {1},
	volume = {84},
	Pages = {171--203},
	Title = {Policy Search for Motor Primitives in Robotics},
	Year = {2011}}

@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 = {The 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 = {The 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}}