@conference{Ma2009a,
  title = "Learning to Walk: {A} Model-Free Biped Locomotion Approach",
  author = "Jie Ma and Stephen Cameron",
  year = "2009",
  address = "University of Ulster, Londonderry, UK",
  booktitle = "Towards Autonomous Robotic Systems ({TAROS})",
  editor = "Theocharis Kyriacou and Ulrich Nehmzow and Chris Melhuish and Mark Witkowski",
  month = "September",
  pages = "229--235",
}