In: H Fujimoto, M. O. Tokhi, H. Mochiyama, G. S. Virk (editor). Emerging Trends in Mobile Robotics. International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR-2010) 13th August 31-September 3 Nagoya Japan Pages 237-244 ISBN ISBN 13: 978-981-4327-97-8 ISBN 10: 981-4327-97-2 World Scientific Publishing Co. Pte. Ltd. 8/2010.

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German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz