@article{gams2010, author = {Gams, Andrej and Ijspeert, Auke Jan and Schaal, Stefan and Lenar\v{c}i\v{c}, Jadran}, title = {On-line learning and modulation of periodic movements with nonlinear dynamical systems}, journal = {Autonomous Robots}, year = {2009}, volume = {27}, number = {1}, pages = {3-23}, doi = {10.1007/s10514-009-9118-y}, }