Gait synthesis for a biped robot climbing sloping surfaces using neural networks. I. Static learning. - Aram W. Salatian; Yuan F. Zheng (ICRA, 1992)

Gait synthesis for a biped robot climbing sloping surfaces using neural networks. II. Dynamic learning. - Aram W. Salatian; Yuan F. Zheng (ICRA, 1992)

Reinforcement learning for a biped robot to climb sloping surfaces. - Aram W. Salatian; Keon Young Yi; Yuan F. Zheng (J. Field Robotics, 1997)