@inproceedings{Maedaetal2015, title = {A Probabilistic Framework for Semi-Autonomous Robots Based on Interaction Primitives with Phase Estimation}, author = {Maeda, G. and Neumann, G. and Ewerton, M. and Lioutikov, R. and Peters, J.}, booktitle = {Proceedings of the International Symposium of Robotics Research}, year = {2015}, doi = {}, url = {http://www.ausy.tu-darmstadt.de/uploads/Team/PubGJMaeda/ISRR_uploaded_20150814_small.pdf} }