Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, Kenji Doya. Learning CPG-based biped locomotion with a policy gradient method. Robotics and Autonomous Systems, 54(11):911-920, 2006. [doi]
@article{MatsubaraMNSD06,
title = {Learning CPG-based biped locomotion with a policy gradient method},
author = {Takamitsu Matsubara and Jun Morimoto and Jun Nakanishi and Masa-aki Sato and Kenji Doya},
year = {2006},
doi = {10.1016/j.robot.2006.05.012},
url = {http://dx.doi.org/10.1016/j.robot.2006.05.012},
tags = {rule-based},
researchr = {https://researchr.org/publication/MatsubaraMNSD06},
cites = {0},
citedby = {0},
journal = {Robotics and Autonomous Systems},
volume = {54},
number = {11},
pages = {911-920},
}