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Dallali, H., Kormushev, P., Li, Z., & Caldwell, D. (n.d. ). On Global Optimization of Walking Gaits for the Compliant Humanoid Robot, COMAN Using Reinforcement Learning, Cybernetics and Information Technologies, 12(3), 39-52. doi: https://doi.org/10.2478/cait-2012-0020