Willi Richert Bernd Kleinjohann Lisa Kleinjohann Learning Action Sequences Through Imitation in Behavior Based Architectures. 93-107 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3432&spage=93 2005 conf/arcs/2005 ARCS db/conf/arcs/arcs2005.html#RichertKK05