@article{colasanto2012optimization,
  title={Optimization of a compact model for the compliant humanoid robot COMAN using reinforcement learning},
  author={Colasanto, Luca and Kormushev, Petar and Tsagarakis, Nikos and Caldwell, Darwin G.},
  journal={International Journal of Cybernetics and Information Technologies},
  volume={12},
  number={3},
  year={2012},
  url = {https://kormushev.com/papers/Colasanto_CIT-2012.pdf}
}