@inproceedings{gams2010hum, author = {Gams, Andrej and Do, Martin and Ude, Ale\v{s} and Asfour, Tamim and Dillmann, Ruediger}, title = {On-line periodic movement and force-profile learning for adaptation to new surfaces}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)}, year = {2010}, pages = {560-565}, doi= {10.1109/ICHR.2010.5686306}, address = {Nashville, TN, USA}, }