@incollection{gams2012intech,
author = {Gams, Andrej and Petri\v{c}, Tadej and Ude, Ale\v{s} and \v{Z}lajpah, Leon},
title = {Performing periodic tasks: on-line learning, adaptation and synchronization with external signals},
booktitle = {The future of humanoid robots - research and applications},
publisher = {InTech},
year = {2012},
editor = {Zaier, Riadh},
pages = { 1-28},
address = {Rijeka},
doi = {10.5772/26544},
}