Christoph Borst Thomas Wimböck Florian Schmidt Matthias Fuchs Bernhard Brunner Franziska Zacharias Paolo Robuffo Giordano Rainer Konietschke Wolfgang Sepp Stefan Fuchs Christian Rink Alin Albu-Schäffer Gerd Hirzinger Rollin' Justin - Mobile platform with variable base. 1597-1598 2009 ICRA http://dx.doi.org/10.1109/ROBOT.2009.5152586 conf/icra/2009 db/conf/icra/icra2009.html#BorstWSFBZGKSFRAH09