@article{ude2010,
author = {Ude, Ale\v{s} and Gams, Andrej and Asfour, Tamim and Morimoto, Jun},
title = {Task-specific generalization of discrete and periodic dynamic movement primitives},
journal = {IEEE transactions on robotics},
year = {2010},
volume = {26},
number = {5},
pages = {800-815},
doi = {10.1109/TRO.2010.2065430}
}