Berns, KarstenVerl, AlexanderHägele, Martin2022-03-112022-03-112012https://publica.fraunhofer.de/handle/publica/375927enRobotikRoboterIndustrieroboterROBOTIK 2012, 7th German Conference on Robotics 2012. Proceedings. CD-ROMconference proceeding