Optimization and learning for rough terrain legged locomotion

Matthew Zucker, Nathan D. Ratliff, Martin Stolle, Joel E. Chestnutt, J. Andrew Bagnell, Christopher G. Atkeson, James Kuffner. Optimization and learning for rough terrain legged locomotion. I. J. Robotic Res., 30(2):175-191, 2011. [doi]

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