Hayato Kobayashi Tsugutoyo Osaki Eric Williams Akira Ishino Ayumi Shinohara Autonomous Learning of Ball Trapping in the Four-Legged Robot League. 86-97 2006 conf/robocup/2006 RoboCup http://dx.doi.org/10.1007/978-3-540-74024-7_8 db/conf/robocup/robocup2006.html#KobayashiOWIS06