Martin A. Riedmiller Roland Hafner Sascha Lange Martin Lauer Learning to dribble on a real robot by success and failure. 2207-2208 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543536 conf/icra/2008 db/conf/icra/icra2008.html#RiedmillerHLL08