@conference{Ma2009b,
  title = "Learning Robust and Energy-efficient Biped Walking Patterns Using {QWalking}",
  author = "Jie Ma and Stephen Cameron",
  year = "2009",
  address = "Istanbul, Turkey",
  booktitle = "The Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines ({CLAWAR} 2009)",
  editor = "O. Tosun and H. L. Akin and M. O. Tokhi and G. S. Virk",
  month = "9--11 September",
  pages = "599--606",
  publisher = "World Scientific",
}