@inbook { lopes10, chapter = {Abstraction levels for robotic imitation: Overview and computational approaches}, edition = {Olivier Sigaud and Jan Peters (Eds.)}, pages = {313-355}, publisher = {Springer}, title = {Abstraction Levels for Robotic Imitation: Overview and Computational Approaches}, year = {2010}, author = {Manuel Lopes and Francisco S. Melo and Luis Montesano and José Santos-Victor} }