Gen Endo Jun Morimoto Takamitsu Matsubara Jun Nakanishi Gordon Cheng Learning CPG Sensory Feedback with Policy Gradient for Biped Locomotion for a Full-Body Humanoid. 1267-1273 2005 conf/aaai/2005 AAAI db/conf/aaai/aaai2005.html#EndoMMNC05 http://www.aaai.org/Library/AAAI/2005/aaai05-201.php