@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} }