@inproceedings{Wahrburgetal2015,
  title = {Combined Pose-Wrench and State Machine Representation for Modeling Robotic Assembly Skills},
  booktitle = {Proceedings of the {IEEE/RSJ} Conference on Intelligent Robots and Systems},
  pages = {852-857},
  month = sep,
  year = {2015},
  author = {Wahrburg, A. and Zeiss, S. and Matthias, B. and Peters, J. and Ding, H.},
  doi = {10.1109/IROS.2015.7353471},
  url = {http://www.ausy.tu-darmstadt.de/uploads/Site/EditPublication/Wahrburg_IROS_2015.pdf},
  month_numeric = {9}
}