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Queißer J, Neumann K, Rolf M, Reinhart F, Steil JJ.  2014.  An Active Compliant Control Mode for Interaction with a Pneumatic Soft Robot. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014). :573–579.
Queißer J, Reinhart F, Steil JJ.  2016.  Incremental Bootstrapping of Parameterized Motor Skills. Proc. IEEE Humanoids.