I. Introduction
Movement primitives (MPs) are a well established concept in robotics. MPs are used to represent atomic, elementary movements and are, therefore, appropriate for tasks consisting of a single stroke-based or rhythmic movement [1]. They have been used in a large variety of applications, e.g., table tennis [2], pancake flipping [3] and hockey [1]. However, for more complex tasks a single MP is often not sufficient. Such task require sequences of MPs for feasible solutions.