Jochen Triesch Jan Wieghardt Eric Maël Christoph von der Malsburg Towards Imitation Learning of Grasping Movements by an Autonomous Robot. 73-84 http://link.springer.de/link/service/series/0558/bibs/1739/17390073.htm 1999 conf/gw/1999 Gesture Workshop db/conf/gw/gw1999.html#TrieschWMM99