@INCOLLECTION{2012bookDEXM2,


Author =    {C. Borst and F. Zacharias and F. Schmidt and D. Leidner and M.A. Roa and K. Hertkorn and G. Grunwald and P. Falco and C. Natale and E. Maggio},


Editor = {B. Siciliano},


TITLE =     "Observation and execution",


booktitle = "Advanced Bimanual Manipulation",


PUBLISHER = "Springer",
YEAR =      "2012",


pages = "59-122",


address =   "Berlin",


edition =   "",


}