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Yong Mao Jiaxin Wang Peifa Jia Shi Li Zhen Qiu Le Zhang Zhuo Han A Reinforcement Learning Based Dynamic Walking Control. 3609-3614 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.364031 db/conf/icra/icra2007.html#MaoWJLQZH07