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Which parameters control the leg movement of a walking insect?: I. Velocity control during the stance phase
In: The journal of experimental biology, Jg. 116 H. 1, S. 343-3551985
Which parameters control the leg movement of a walking insect? II. The start of the swing phase
In: The Journal of Experimental Biology, Jg. 116, S. 357-3621985
What's next: Recruitment of a grounded predictive body model for planning a robot's actions
In: Frontiers in Psychology, Jg. 3 H. 383, S. 383 ff.2012
What mechanisms coordinate leg movement in walking arthropods?
In: Trends in Neurosciences, Jg. 13 H. 1, S. 15-211990

What do pointing errors really tell us about internal coordinate transformations
In: Behavioral and Brain Sciences, Jg. 15 H. 2, S. 3341992

Walknet, a bio-inspired controller for hexapod walking
In: Biological Cybernetics, Jg. 107 H. 4, S. 397-4192013
Versuch einer quantitativen Beschreibung des Formensehens der Honigbiene
In: Kybernetik, Jg. 11, S. 185-2001972

Untersuchungen und Hypothesen zur Funktion des Gedächtnisses
In: Naturwissenschaftliche Rundschau, Jg. 31 H. 1, S. 1-121978
Two coupling mechanisms which determine the coordination of ipsilateral legs in the walking crayfish
In: The Journal of Experimental Biology, Jg. 121 H. 1, S. 349-3691986

The influence of load and leg amputation upon coordination in walking crustaceans: a model calculation
In: Biological cybernetics, Jg. 49 H. 2, S. 119-1251983
The human arm as a redundant manipulator: the control of path and joint angles
In: Biological cybernetics, Jg. 57 H. 1-2, S. 137-1441987
The function of the legs in the free walking stick insect Carausius morosus
In: Journal of Comparative Physiology, Jg. 112 H. 2, S. 235-2621976
The coordination of force oscillations and of leg movement in a walking insect (Carausius morosus)
In: Biological Cybernetics, Jg. 36 H. 3, S. 165-1711980
The control system of the femur-tibia joint in the standing leg of a walking stick insect Carausius morosus
In: The Journal of Experimental Biology, Jg. 102 H. Jan., S. 175-1851983