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Nordmann A, Emmerich C, Rüther S, Lemme A, Wrede S, Steil JJ.  2012.  Teaching Nullspace Constraints in Physical Human-Robot Interaction using Reservoir Computing. International Conference on Robotics and Automation. :1868–1875.
Nordmann A, Wrede S, Steil JJ.  2015.  Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific Languages.