@article{Berns99a,
Author = {K. Berns and W. Ilg and M. Deck and J. Albiez and R. Dillmann},
Title = {Mechanical Construction and Computer Architecture of the four-legged Walking Machine BISAM},
Journal = {IEEE Transactions on Mechatronics},
Year = {1999},
Volume = {vol. 4},
Number = {1},
Pages = {pp. 1--7},
Month = {March},
}