@ARTICLE{Howard2008a,
  author = {Matthew Howard and Stefan Klanke and Michael Gienger and Christian
	Goerick and Sethu Vijayakumar},
  title = {Behaviour Generation in Humanoids by Learning Potential-based Policies
	from Constrained Motion},
  journal = {Applied Bionics and Biomechanics},
  year = {2008},
  volume = {5},
  pages = {195-211},
  number = {4},
  month = {December},
}