@article{shen2012learning,
  title={Learning Fast Quadruped Robot Gaits with the RL PoWER Spline Parameterization},
  author={Shen, H. and Yosinski, J. and Kormushev, Petar and Caldwell, D.G. and Lipson, H.},
  journal={International Journal of Cybernetics and Information Technologies},
  volume={12},
  number={3},
  year={2012},
  url = {https://kormushev.com/papers/Shen_CIT-2012.pdf}
}