@inproceedings{CalIvaDeiPet2015, title = {Learning Torque Control in Presence of Contacts using Tactile Sensing from Robot Skin}, author = {Calandra, R. and Ivaldi, S. and Deisenroth, M. and Peters, J.}, booktitle = {15th {IEEE-RAS} International Conference on Humanoid Robots}, pages = {690-695}, month = nov, year = {2015}, doi = {10.1109/HUMANOIDS.2015.7363429}, url = {http://www.ausy.tu-darmstadt.de/uploads/Site/EditPublication/Calandra_humanoids2015.pdf}, month_numeric = {11} }