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Neumann K, Lemme A, Steil JJ. Neural Learning of Stable Dynamical Systems based on Data-Driven Lyapunov Candidates. In: Int. Conf. Intelligent Robots and Systems (IROS). Int. Conf. Intelligent Robots and Systems (IROS). Tokio: IEEE; 2013. Available from: http://www.cor-lab.de/system/files/LemmeNeumannSteil2013.pdf
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Reinhart RF, Steil JJ. Neural learning and dynamical selection of redundant solutions for inverse kinematic control. In: IEEE-RAS International Conference on Humanoid Robots (Humanoids). IEEE-RAS International Conference on Humanoid Robots (Humanoids). ; 2011. pp. 564-569. Available from: http://www.cor-lab.de/system/files/ReinhartSteil-Humanoids2011.pdf

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