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Cited article:

Robust Optimal Control of Point-Feet Biped Robots Using a Reinforcement Learning Approach

Yi-You Hou, Ming-Hung Lin, Majid Anjidani and Hassan Saberi Nik
IETE Journal of Research 70 (10) 7831 (2024)
https://doi.org/10.1080/03772063.2024.2362343