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T. Kulvicius, N. KeJun, M. Tamosiunaite, and F. Wörgötter (2012)

Joining Movement Sequences: Modified Dynamic Movement Primitives for Robotics Applications Exemplified on Handwriting

IEEE Transactions on Robotics 28(1):145-157 doi:10.1109/TRO.2011.2163863.  (export entry)