Acrobot control by learning the switching of multiple controllers. - Junichiro Yoshimoto; Masaya Nishimura; Yoichi Tokita; Shin Ishii (Artif. Life Robotics, 2005)

Off-Policy Natural Policy Gradient Method for a Biped Walking Using a CPG Controller. - Yutaka Nakamura; Takeshi Mori; Yoichi Tokita; Tomohiro Shibata; Shin Ishii (J. Robotics Mechatronics, 2005)