See discussions, stats, and author profiles for this publication at: https://www.researchgate.net/publication/220061445 Perception-based learning for motion in contact in task planning Article in Journal of Intelligent and Robotic Systems · November 1996 DOI: 10.1007/BF00339665 · Source: DBLP CITATIONS 21 READS 47 4 authors, including: Enric Cervera Universitat Jaume I 91 PUBLICATIONS 453 CITATIONS SEE PROFILE Angel P. del Pobil Universitat Jaume I 266 PUBLICATIONS 1,827 CITATIONS SEE PROFILE Miguel A. Serna Universidad de Cantabria 45 PUBLICATIONS 926 CITATIONS SEE PROFILE All content following this page was uploaded by Angel P. del Pobil on 13 December 2016. The user has requested enhancement of the downloaded file. All in-text references underlined in blue are added to the original document and are linked to publications on ResearchGate, letting you access and read them immediately.