Impedance Learning for Robotic Contact Tasks Using Natural Actor-Critic Algorithm.

Byungchan Kim Jooyoung Park Shinsuk Park Sungchul Kang Impedance Learning for Robotic Contact Tasks Using Natural Actor-Critic Algorithm. 433-443 2010 40 IEEE Transactions on Systems, Man, and Cybernetics, Part B 2 http://dx.doi.org/10.1109/TSMCB.2009.2026289 db/journals/tsmc/tsmcb40.html#KimPPK10