@inproceedings{whitsell2015role,
 author = {Whitsell, Bryan and Artemiadis, Panagiotis},
 booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
 pages = {3770--3775},
 title = {On the Role Duality and Switching in Human-Robot Cooperation: An adaptive approach},
 year = {2015}
}