@article {ChGi10, title = {Policy gradient learning for quadruped soccer robots}, journal = {Robotics and Autonomous Systems}, volume = {58}, number = {7}, year = {2010}, note = {ISSN: 0921-8890}, pages = {872{\textendash}878}, publisher = {Elsevier, Amsterdam Netherlands}, doi = {10.1016/j.robot.2010.03.008}, author = {A. Cherubini and F. Giannone and L. Iocchi and D. Nardi and P. F. Palamara} }