https://link.springer.com/content/pdf/10.1007%2F11008941_60.pdf (Verlagsversion)
Schaal, S., Peters, J., Nakanishi, J., & Ijspeert, A. (2005). Learning Movement Primitives. In P. Dario, & R. Chatila (Eds.), Robotics Research: The Eleventh International Symposium (pp. 561-572). Berlin, Germany: Springer.