@article{Albiez03a,
Author = {Jan Albiez and Tobias Luksch and Karsten Berns and R{\"u}diger Dillmann},
Title = {An Activation-Based Behavior Control Architecture for Walking Machines},
Journal = {The International Journal on Robotics Research, Sage Publications},
Year = {2003},
Volume = {22},
Pages = {203-211},
}