Sebastian Buck Freek Stulp Michael Beetz Thorsten Schmitt Machine control using radial basis value functions and inverse state projection. 1670-1675 2002 ICARCV http://dx.doi.org/10.1109/ICARCV.2002.1235026 conf/icarcv/2002 db/conf/icarcv/icarcv2002.html#BuckSBS02