Emergent synthesis of motion patterns for locomotion robots

By M. Svinin, Kazuaki Yamada, K. Ueda. 2001

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Reinforcement learning in robotics: A survey (2013, neutral): “, 2007) and multi-legged robot locomotion (Ilg et al., 1999; Svinin et al., 2001).”
Free gait generation with reinforcement learning for a six-legged robot (2008, background): “[27] use reinforcement learning in order to learn the sequential action patterns that result in a stable straight walk.”