@phdthesis{Koch2015UsingModelbased, author = {Koch, K. H.}, title = {Using Model-based Optimal Control for Conceptional Motion Generation for the Humannoid Robot HRP-2 14 and Design Investigations for Exo-Skeleton}, year = {2015}, month = {Jun}, url = {http://www.ub.uni-heidelberg.de/archiv/19041}, school = {University Heidelberg} }