Dusko Katic Aleksandar D. Rodic Miomir Vukobratovic Hybrid Dynamic Control Algorithm for Humanoid Robots Based on Reinforcement Learning. 3-30 2008 51 Journal of Intelligent and Robotic Systems 1 http://dx.doi.org/10.1007/s10846-007-9174-5 db/journals/jirs/jirs51.html#KaticRV08