@article{gams2010,
author = {Gams, Andrej and Ijspeert, Auke Jan and Schaal, Stefan and Lenar\v{c}i\v{c}, Jadran},
title = {On-line learning and modulation of periodic movements with nonlinear dynamical systems},
journal = {Autonomous Robots},
year = {2009},
volume = {27},
number = {1},
pages = {3-23},
doi = {10.1007/s10514-009-9118-y},
}