Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot

Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, Gordon Cheng. Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot. I. J. Robotic Res., 27(2):213-228, 2008. [doi]

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