@article{CTT100560400,
  author = {Gen Endo and Jun Morimoto and Takamitsu Matsubara and Jun Nakanishi and Gordon Cheng},
  title = {Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot},
  journal = {International Journal of Robotics Research},
  year = 2008,
}

@inproceedings{CTT100560492,
  author = {Gen Endo and Jun Morimoto and Takamitsu Matsubara and Jun Nakanishi and Gordon Cheng},
  title = {Learning CPG Sensory Feedback with Policy Gradient for Biped Locomotion for a Full-body Humanoid},
  booktitle = {The Twentieth National Conference on Artificial Intelligence},
  year = 2005,
}