@article{dallali2012global,
  title={On Global Optimization of Walking Gaits for the Compliant Humanoid Robot COMAN Using Reinforcement Learning},
  author={Dallali, Houman and Kormushev, Petar and Li, Zhibin and Caldwell, Darwin G.},
  journal={International Journal of Cybernetics and Information Technologies},
  volume={12},
  number={3},
  year={2012},
  url = {https://kormushev.com/papers/Dallali_CIT-2012.pdf}
}