@article {38, title = {Manipulation primitives: A paradigm for abstraction and execution of grasping and manipulation tasks}, journal = {Robotics and Autonomous Systems}, year = {2012}, issn = {0921{\textendash}8890}, doi = {10.1016/j.robot.2012.11.010}, author = {Javier Felip and Laaksonen, J. and Antonio Morales and V. Kyrki} }