  In this paper, we optimize over the control parameter space of our
planar-bipedal robot, RAMone, for stable and energetically economical walking
at various speeds. We formulate this task as an episodic reinforcement learning
problem and use Covariance Matrix Adaptation. The parameters we are interested
in modifying include gains from our Hybrid Zero Dynamics style controller and
from RAMone's low-level motor controllers.
