Shotaro Kamio Hitoshi Iba Real-time adaptation technique to real robots: an experiment with a humanoid robot. 506-513 2003 IEEE Congress on Evolutionary Computation (1) http://dx.doi.org/10.1109/CEC.2003.1299618 conf/cec/2003 db/conf/cec/cec2003-1.html#KamioI03