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Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture, , , and . 2009 IEEE International Conference on Robotics and Automation, page 4259-4264. (May 2009)Adaptive Locomotion Control in Modular Robotics, , , , and . (2007)Movement imitation with nonlinear dynamical systems in humanoid robots, , and . International Conference on Robotics and Automation (ICRA2002), (2002)Online Optimization of Modular Robot Locomotion, and . Proceedings of the IEEE Int. Conference on Mechatronics and Automation (ICMA 2005), page 248--253. (2005)