Free gait generation with reinforcement learning for a six-legged robot.

Mustafa Suphi Erden Kemal Leblebicioglu Free gait generation with reinforcement learning for a six-legged robot. 199-212 2008 56 Robotics and Autonomous Systems 3 http://dx.doi.org/10.1016/j.robot.2007.08.001 db/journals/ras/ras56.html#ErdenL08