Naoyuki Kubota Toshiyuki Shimizu Modular Fuzzy Neural Networks for Imitative Learning of A Partner Robot. 4063-4070 2006 IJCNN http://dx.doi.org/10.1109/IJCNN.2006.246931 conf/ijcnn/2006 db/conf/ijcnn/ijcnn2006.html#KubotaS06