%0 Journal Article %J Robotics and Autonomous Systems %D 2012 %T Manipulation primitives: A paradigm for abstraction and execution of grasping and manipulation tasks %A Javier Felip %A Laaksonen, J. %A Antonio Morales %A V. Kyrki %B Robotics and Autonomous Systems %G eng %R 10.1016/j.robot.2012.11.010