@inproceedings{heim2016clawar, title = {On designing an active tail for body-pitch control in legged robots via decoupling of control objectives}, author = {Heim, Steve W and Ajallooeian, Mostafa and Eckert, Peter and Vespignani, Massimo and Ijspeert, Auke}, booktitle = {ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on CLAWAR 2015}, pages = {256--264}, organization = {World Scientific}, year = {2016}, doi = {} }