Norbert Michael Mayer Joschka Boedecker Minoru Asada Robot motion description and real-time management with the Harmonic Motion Description Protocol. 870-876 2009 57 Robotics and Autonomous Systems 8 http://dx.doi.org/10.1016/j.robot.2009.03.014 db/journals/ras/ras57.html#MayerBA09