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222 S. Pr¨uter et al.
self-adaptive control architectures. Another important aspect will be the
development of complex controllers which could fit into the low computational
resources provided by the robot’s onboard hardware.

Acknowledgements

The authors gratefully thank Thorsten Schulz, Guido Moritz, Christian
Fabian and Mirko Gerber for helping with all the very time consuming practi-
cal time-consuming experiments. Special thanks are due to Prof. Timmermann
and Dr. Golatowski for their continuous support.

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