@inproceedings{toussaint_dual_2014, title = {Dual {Execution} of {Optimized} {Contact} {Interaction} {Trajectories}}, author = {Toussaint, M and Ratliff, N and Bohg, J and Righetti, L. and Englert, P and Schaal, S.}, booktitle = {2014 {IEEE}/{RSJ} {Conference} on {Intelligent} {Robots} and {Systems}}, pages = {47--54}, publisher = {IEEE}, address = {Chicago, USA}, year = {2014}, doi = {10.1109/IROS.2014.6942539}, url = {https://ieeexplore.ieee.org/abstract/document/6942539/} }