@INPROCEEDINGS{Howard2008,
	  author = {Matthew Howard and Stefan Klanke and Michael Gienger and Christian
		  	Goerick and Sethu Vijayakumar},
	    title = {Learning Potential-based Policies from Constrained Motion},
		  booktitle = {IEEE/RSJ International Conference on Humanoid Robots},
		    year = {2008},
}