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  author =		 "Toussaint, M. and Ratliff, N. and Bohg, J. and Righetti, L. and Englert, P. and Schaal, S.",
  year =		 "2014",
  title =		 "Dual Execution of Optimized Contact Interaction Trajectories",
  booktitle =		 "Proceedings of the International Conference on Intelligent Robots and Systems",
  key =			 "contact interaction, manipulation, optimal control, uncertainty",
  URL =			 "",
  crossref =		 "p10599"

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