%0 Journal Article %J Journal of Intelligent & Robotic Systems %D 1996 %T Perception-based learning for motion in contact in task planning %A Enric Cervera %A Angel P. del Pobil %A Marta, E. %A Serna, M. A. %B Journal of Intelligent & Robotic Systems %V 17 %P 283-308 %G eng %U ://WOS:A1996VY80200004 %9 Journal Article %R 10.1007/bf00339665