João Silvério Sylvain Calinon Leonel Dario Rozo Darwin G. Caldwell Bimanual Skill Learning with Pose and Joint Space Constraints. 153-159 2018 Humanoids https://doi.org/10.1109/HUMANOIDS.2018.8624993 conf/humanoids/2018 db/conf/humanoids/humanoids2018.html#SilverioCRC18