@article{righetti_autonomous_2014, title = {An autonomous manipulation system based on force control and optimization}, author = {Righetti, L. and Kalakrishnan, M. and Pastor, P. and Binney, J and Kelly, J and Voorhies, R C and Sukhatme, G S and Schaal, S.}, journal = {Autonomous Robots}, volume = {36}, number = {1-2}, pages = {11--30}, month = jan, year = {2014}, doi = {10.1007/s10514-013-9365-9}, url = {https://link.springer.com/article/10.1007/s10514-013-9365-9}, month_numeric = {1} }