@article{petric2011,
author = {Petri\v{c}, Tadej and Gams, Andrej and Ijspeert, Auke Jan and \v{Z}lajpah, Leon},
title = {On-line frequency adaptation and movement imitation for rhythmic robotic tasks},
journal = {The international Journal of Robotics Research},
year = {2011},
volume = {30},
number = {14},
pages = {1775-1788},
doi = {10.1177/0278364911421511}
}