Oliver Brock Andrew H. Fagg Roderic A. Grupen Robert Platt Jr. Michael T. Rosenstein John Sweeney A Framework for Learning and Control in Intelligent Humanoid Robots. 301-336 2005 2 I. J. Humanoid Robotics 3 http://dx.doi.org/10.1142/S0219843605000491 db/journals/ijhr/ijhr2.html#BrockFGPRS05