@conference{ManGieKobPet16, title = {Probabilistic Decomposition of Sequential Force Interaction Tasks into Movement Primitives}, author = {Manschitz, S. and Gienger, M. and Kober, J. and Peters, J.}, booktitle = { IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages = {3920--3927}, publisher = {IEEE}, month = oct, year = {2016}, doi = {10.1109/IROS.2016.7759577}, month_numeric = {10} }