Yasuo Kuniyoshi Shinsuke Suzuki Shinji Sangawa Emergence, Exploration and Learning of Embodied Behavior. 473-486 2005 ISRR http://dx.doi.org/10.1007/978-3-540-48113-3_40 conf/isrr/2005 db/conf/isrr/isrr2005.html#KuniyoshiSS05