@article{stulp2012model, title = {{Model-free reinforcement learning of impedance control in stochastic environments}}, author = {Stulp, Freek and Buchli, Jonas and Ellmer, Alice and Mistry, Michael and Theodorou, Evangelos A. and Schaal, S.}, journal = {Autonomous Mental Development, IEEE Transactions on}, volume = {4}, number = {4}, pages = {330--341}, year = {2012}, doi = {} }