"Gen Endo,Jun Morimoto,Takamitsu Matsubara,Jun Nakanishi,Gordon Cheng","Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot",,"International Journal of Robotics Research","Sage Publication","Vol. 27","No. 2","pp. 213-228",2008,Jan. "Gen Endo,Jun Morimoto,Takamitsu Matsubara,Jun Nakanishi,Gordon Cheng","Learning CPG Sensory Feedback with Policy Gradient for Biped Locomotion for a Full-body Humanoid",,"The Twentieth National Conference on Artificial Intelligence",,,,"pp. 1267-1273",2005,