Malte Römmermann Mark Edgington Jan Hendrik Metzen Jose de Gea Yohannes Kassahun Frank Kirchner Learning Walking Patterns for Kinematically Complex Robots Using Evolution Strategies. 1091-1100 2008 PPSN http://dx.doi.org/10.1007/978-3-540-87700-4_108 conf/ppsn/2008 db/conf/ppsn/ppsn2008.html#RommermannEMGKK08