D. Hernandez, C.A. Monje, C. Balaguer. Cognitive Model Framework for Learning and Adaptation of Robot Skills to Task Constraints. RoboCity2030 12th Workshop: Robótica Cognitiva. RoboCity2030 12th Workshop: Robótica Cognitiva, ISBN: 978-84-695-8175, pages: 47 - 66, . 2013-07-04, Madrid, España. 2013.