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  author =		 "Nakanishi, J. and Morimoto, J. and Endo, G. and Cheng, G. and Schaal, S. and Kawato, M.",
  year =		 "2004",
  title =		 "A framework for learning biped locomotion with dynamic movement primitives",
  booktitle =		 "IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids 2004)",
  key =			 "movement primitives, dynamic systems, locomotion, phase resetting, learning",
  URL =			 "",
  publisher =		 "ieee",
  crossref =		 "p1990"

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