@inproceedings{GoppalanP2013, title = {Feedback Error Learning for Rhythmic Motor Primitives}, author = {Gopalan, N. and Deisenroth, MP. and Peters, J.}, booktitle = {Proceedings of 2013 IEEE International Conference on Robotics and Automation (ICRA 2013)}, pages = {1317-1322}, year = {2013}, doi = {10.1109/ICRA.2013.6630741} }