@article{heim2016designing, title = {On designing an active tail for legged robots: simplifying control via decoupling of control objectives}, author = {Heim, Steve W and Ajallooeian, Mostafa and Eckert, Peter and Vespignani, Massimo and Ijspeert, Auke Jan}, journal = {Industrial Robot: An International Journal}, volume = {43}, pages = {338--346}, publisher = {Emerald Group Publishing Limited}, year = {2016}, doi = {} }