Martin Görner Thomas Wimböck A. Baumann Matthias Fuchs Thomas Bahls Markus Grebenstein Christoph Borst Jörg Butterfaß Gerd Hirzinger The DLR-Crawler: A testbed for actively compliant hexapod walking based on the fingers of DLR-Hand II. 1525-1531 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4650655 conf/iros/2008 db/conf/iros/iros2008.html#GornerWBFBGBBH08