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