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In: Emerging Trends in MOBILE ROBOTICS. International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR-10) August 30-September 3 Nagoya Japan Pages 895-902 ISBN 13 978-981-4327-97-8 9/2010.

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German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz