Table of Contents

• Dynamic gait transition between walking, running and hopping for push recoveryTakumi Kamioka, Hiroyuki Kaneko, Mitsuhide Kuroda, Chiaki Tanaka, Shinya Shirokura, Masanori Takeda, Takahide Yoshiike. 1-8 [doi]
• Humanoid navigation in uneven terrain using learned estimates of traversabilityYu-Chi Lin, Dmitry Berenson. 9-16 [doi]
• Capture-point based balance and reactive omnidirectional walking controllerMichael Bombile, Aude Billard. 17-24 [doi]
• Capture point trajectories for reduced knee bend using step time optimizationRobert J. Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, Jerry E. Pratt. 25-30 [doi]
• Approximate hybrid model predictive control for multi-contact push recovery in complex environmentsTobia Marcucci, Robin Deits, Marco Gabiccini, Antonio Bicchi, Russ Tedrake. 31-38 [doi]
• SGD for robot motion? The effectiveness of stochastic optimization on a new benchmark for biped locomotion tasksMartim Brandao, Kenji Hashimoto, Atsuo Takanishi. 39-46 [doi]
• Multimodal gaze stabilization of a humanoid robot based on reafferencesTimothee Habra, Markus Grotz, David Sippel, Tamim Asfour, Renaud Ronsse. 47-54 [doi]
• Towards ergonomie control of human-robot co-manipulation and handoverLuka Peternel, Wansoo Kim, Jan Babic, Arash Ajoudani. 55-60 [doi]
• A projection approach to equality constrained iterative linear quadratic optimal controlMarkus Giftthaler, Jonas Buchli. 61-66 [doi]
• Peg-in-hole under state uncertainties via a passive wrist joint with push-activate-rotation functionToshihiro Nishimura, Yosuke Suzuki, Tokuo Tsuji, Tetsuyou Watanabe. 67-74 [doi]
• A method for evaluating humanoid robots using anthropometric and biomechanical dataNicholas Thoma, James Holley, William K. Verdeyen. 75-82 [doi]
• A framework for evaluating motion segmentation algorithmsChristian R. G. Dreher, Nicklas Kulp, Christian Mandery, Mirko Wächter, Tamim Asfour. 83-90 [doi]
• Affordance detection for task-specific grasping using deep learningMia Kokic, Johannes A. Stork, Joshua A. Haustein, Danica Kragic. 91-98 [doi]
• Enabling natural human-robot physical interaction using a robotic skin feedback and a prioritized tasks robot control architectureAlessandro Albini, Simone Denei, Giorgio Cannata. 99-106 [doi]
• Utilizing speed-accuracy trade-off models for human-robot coadaptation during cooperative groove fitting taskTadej Petric, Misel Cevzar, Jan Babic. 107-112 [doi]
• On the common-mode and configuration-dependent stiffness control of multiple degrees of freedom handsVirginia Ruiz Garate, Nikos G. Tsagarakis, Antonio Bicchi, Arash Ajoudani. 113-120 [doi]
• Vision-based foothold contact reasoning using curved surface patchesDimitrios Kanoulas, Chengxu Zhou, Anh Nguyen, Georgios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis. 121-128 [doi]
• Rappelling by a humanoid robot based on transition motion generation and reliable rope manipulationMasahiro Bando, Masaki Murooka, Iori Yanokura, Shunichi Nozawa, Kei Okada, Masayuki Inaba. 129-135 [doi]
• Adapting to contacts: Energy tanks and task energy for passivity-based dynamic movement primitivesErfan Shahriari, Aljaz Kramberger, Andrej Gams, Ales Ude, Sami Haddadin. 136-142 [doi]
• Optimal and robust walking using intrinsic properties of a series-elastic robotAlexander Werner, Bernd Henze, Florian Loeffl, Sigrid Leyendecker, Christian Ott. 143-150 [doi]
• Efficient coverage of 3D environments with humanoid robots using inverse reachability mapsStefan Oßwald, Philipp Karkowski, Maren Bennewitz. 151-157 [doi]
• Towards a better understanding of human sprinting motions with and without prosthesesAnna Lena Kleesattel, Wolfgang Potthast, Katja D. Mombaur. 158-164 [doi]
• Robust foot placement control for dynamic walking using online parameter estimationQingbiao Li, Iordanis Chatzinikolaidis, Yiming Yang, Sethu Vijayakumar, Zhibin Li. 165-170 [doi]
• Online stability estimation based on inertial sensor data for human and humanoid fall preventionLaura Steffan, Lukas Kaul, Tamim Asfour. 171-177 [doi]
• Humanoid gait generation for walk-to locomotion using single-stage MPCAhmed Aboudonia, Nicola Scianca, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo. 178-183 [doi]
• Closed loop control of walking motions with adaptive choice of directions for the iCub humanoid robotKevin Stein, Yue Hu 0001, Manuel Kudruss, Maximilien Naveau, Katja D. Mombaur. 184-190 [doi]
• Learning deep movement primitives using convolutional neural networksAffan Pervez, Yuecheng Mao, Dongheui Lee. 191-197 [doi]
• Efficient online adaptation with stochastic recurrent neural networksDaniel Tanneberg, Jan Peters 0001, Elmar A. Rückert. 198-204 [doi]
• Comparison of linearized dynamic robot manipulator models for model predictive controlJonathan S. Terry, Levi Rupert, Marc D. Killpack. 205-212 [doi]
• Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanismsYuki Matsutani, Kenji Tahara, Hitoshi Kino, Hiroaki Ochi. 213-218 [doi]
• Task level hierarchical system for BCI-enabled shared autonomyIretiayo Akinola, Boyuan Chen, Jonathan Koss, Aalhad Patankar, Jake Varley, Peter Allen. 219-225 [doi]
• Heuristically initialized motion planning in a low cost consumer robotNandan Banerjee, Erik Amaral, Ben Axelrod, Steven Shamlian, Mark Moseley. 226-232 [doi]
• The complexities of grasping in the wildYuzuko C. Nakamura, Daniel M. Troniak, Alberto Rodriguez, Matthew T. Mason, Nancy S. Pollard. 233-240 [doi]
• Implementing tactile behaviors using FingerVisionAkihiko Yamaguchi, Christopher G. Atkeson. 241-248 [doi]
• Unified humanoid manipulation of an object of unknown mass properties and friction based on online constraint estimationShunichi Nozawa, Masaki Murooka, Shintaro Noda, Kunio Kojima, Yuta Kojio, Yohei Kakiuchi, Kei Okada, Masayuki Inaba. 249-256 [doi]
• Reflex control of body posture in standingAlireza Sarmadi, Maziar Ahmad Sharbafi, André Seyfarth. 257-262 [doi]
• Modeling and control of humanoid robots in dynamic environments: ICub balancing on a seesawGabriele Nava, Daniele Pucci, Nuno Guedelha, Silvio Traversaro, Francesco Romano, Stefano Dafarra, Francesco Nori. 263-270 [doi]
• Improving the scalability of asymptotically optimal motion planning for humanoid dual-arm manipulatorsRahul Shome, Kostas E. Bekris. 271-277 [doi]
• Footwear discrimination using dynamic tactile informationAlin Drimus, Vedran Mikov. 278-282 [doi]
• Estimating hand and foot reaction forces based on a generalized zero moment point for rehabilitation assist systemKunihiro Ogata, Hideyuki Tanaka, Yoshio Matsumoto. 283-288 [doi]
• Carl - A compliant robotic leg featuring mono- and biarticular actuationSteffen Schütz, Atabak Nejadfard, Krzysztof Mianowski, Patrick Vonwirth, Karsten Berns. 289-296 [doi]
• Gaze and filled pause detection for smooth human-robot conversationsMiriam Bilac, Marine Chamoux, Angelica Lim. 297-304 [doi]
• Collision-free trajectory planning in human-robot interaction through hand movement prediction from visionYiwei Wang, Xin Ye, Yezhou Yang, Wenlong Zhang. 305-310 [doi]
• Real-time smart stereo camera based on FPGA-SoCSoenke Michalik, Soeren Michalik, Jamin Naghmouchi, Mladen Berekovic. 311-317 [doi]
• Variable impedance walking using Time-Varying Lyapunov Stability MarginsEmmanouil Spyrakos-Papastavridis, Peter R. N. Childs, Nikos G. Tsagarakis. 318-323 [doi]
• Remote control for redundant humanoid arm using optimized arm angleJaesung Oh, Buyoun Cho, Jun-Ho Oh. 324-331 [doi]
• Upper limb redundancy resolution under gravitational loading conditions: Arm postural stability index based on dynamic manipulability analysisYang Shen, Brandon Po-Yun Hsiao, Ji Ma, Jacob Rosen. 332-338 [doi]
• Learning optimal gait parameters and impedance profiles for legged locomotionElco Heijmink, Andreea Radulescu, Brahayam Ponton, Victor Barasuol, Darwin G. Caldwell, Claudio Semini. 339-346 [doi]
• Online estimation of friction constraints for multi-contact whole body controlCameron P. Ridgewell, Robert J. Griffin, Tomonari Furukawa, Brian Y. Lattimer. 347-352 [doi]
• Modeling, design, and experimental evaluation of rotational elastic joints for underactuated robotic fingersUmberto Scarcia, Giovanni Berselli, Gianluca Palli, Claudio Melchiorri. 353-358 [doi]
• Trajectory optimization of humanoid robots swinging legZhou Luo, Xuechao Chen, Zhangguo Yu, Qiang Huang, Libo Meng, Qingqing Li, Weimin Zhang, Wenjuan Guo, Aiguo Ming. 359-364 [doi]
• Compliant movement primitives in a bimanual settingAleksandar Batinica, Bojan Nemec, Ales Ude, Mirko Rakovic, Andrej Gams. 365-371 [doi]
• Emergence of human-comparable balancing behaviours by deep reinforcement learningChuanyu Yang, Taku Komura, Zhibin Li. 372-377 [doi]
• Tool force adaptation in soil-digging task for humanoid robotShintaro Komatsu, Yohei Kakiuchi, Shunichi Nozawa, Yuta Kojio, Fumihito Sugai, Kei Okada, Masayuki Inaba. 378-383 [doi]
• An integrated design approach for a series elastic actuator: Stiffness formulation, fatigue analysis, thermal managementMehmet Can Yildirim, Polat Sendur, Onur Bilgin, Berk Gulek, G. Guven Yapici, Barkan Ugurlu. 384-389 [doi]
• Autonomous narration of humanoid robot kitchen task experienceQingxiaoyang Zhu, Vittorio Perera, Mirko Wächter, Tamim Asfour, Manuela M. Veloso. 390-397 [doi]
• An online interactive method for guided calibration of multi-dimensional force/torque transducersFrancesco Cursi, Jörn Malzahn, Nikolaos G. Tsagarakis, Darwin G. Caldwell. 398-405 [doi]
• Jet-HR1: Two-dimensional bipedal robot step over large obstacle based on a ducted-fan propulsion systemZhifeng Huang, Biao Liu, Jiapeng Wei, Qingsheng Lin, Jun Ota, Yun Zhang. 406-411 [doi]
• Simulating a wearable lower-body exoskeleton device for torque and power estimationZohaib Aftab, Asad Ali. 412-417 [doi]
• Deep visual perception for dynamic walking on discrete terrainAvinash Siravuru, Allan Wang, Quan Nguyen, Koushil Sreenath. 418-424 [doi]
• Torque based stabilization control for torque sensorless humanoid robotsHiroto Suzuki, Yuya Nagamatsu, Takuma Shirai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba. 425-431 [doi]
• Walking on gravel with soft soles using linear inverted pendulum tracking and reaction force distributionAdrien Pajon, Stéphane Caron, Giovanni De Magistris, Sylvain Miossec, Abderrahmane Kheddar. 432-437 [doi]
• First-order-principles-based constructive network topologies: An application to robot inverse dynamicsFernando Diaz Ledezma, Sami Haddadin. 438-445 [doi]
• Adaptive whole-body manipulation in human-to-humanoid multi-contact motion retargetingKazuya Otani, Karim Bouyarmane. 446-453 [doi]
• Real-time stabilization of a falling humanoid robot using hand contact: An optimal control approachShihao Wang, Kris Hauser. 454-460 [doi]
• Opening a lockbox through physical explorationManuel Baum, Matthew Bernstein, Roberto Martín-Martín, Sebastian Höfer, Johannes Kulick, Marc Toussaint, Alex Kacelnik, Oliver Brock. 461-467 [doi]
• Trial-and-error learning of repulsors for humanoid QP-based whole-body controlJonathan Spitz, Karim Bouyarmane, Serena Ivaldi, Jean-Baptiste Mouret. 468-475 [doi]
• A deep probabilistic framework for heterogeneous self-supervised learning of affordancesAtabak Dehban, Lorenzo Jamone, Adam R. Kampff, José Santos-Victor. 476-483 [doi]
• Robots learning from robots: A proof of concept study for co-manipulation tasksLuka Peternel, Arash Ajoudani. 484-490 [doi]
• Learning human-robot collaboration insights through the integration of muscle activity in interaction motion modelsLongxin Chen, Hongmin Wu, Shuangda Duan, Yisheng Guan, Juan Rojas 0001. 491-496 [doi]
• Uncertainty averse pushing with model predictive path integral controlErmano Arruda, Michael J. Mathew, Marek Sewer Kopicki, Michael Mistry, Morteza Azad, Jeremy L. Wyatt. 497-502 [doi]
• Human motion reproduction by torque-based humanoid tracking control for active assistive device evaluationTakahiro Ito, Ko Ayusawa, Eiichi Yoshida, Hiroshi Kobayashi. 503-508 [doi]
• Collision avoidance based on separating planes for feet trajectory generationStanislas Brossette, Pierre-Brice Wieber. 509-514 [doi]
• Analysis of position tracking in torque control of humanoid robots considering joint elasticity and time delayJaesug Jung, Soonwook Hwang, Yisoo Lee, Jaehoon Sim, Jaeheung Park. 515-521 [doi]
• When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPCStéphane Caron, Quang-Cuong Pham. 522-528 [doi]
• Multi-level motion analysis for physical exercises assessment in kinaesthetic rehabilitationMaxime Devanne, Sao Mai Nguyen. 529-534 [doi]
• Parameter optimization for passive spinal exoskeletons based on experimental data and optimal controlMonika Harant, Manish N. Sreenivasa, Matthew Millard, Nejc Sarabon, Katja D. Mombaur. 535-540 [doi]
• A pilot study on using an intelligent life-like robot as a companion for elderly individuals with dementia and depressionHojjat Abdollahi, Ali Mollahosseini, Joshua T. Lane, Mohammad H. Mahoor. 541-546 [doi]
• Gait generation via intrinsically stable MPC for a multi-mass humanoid modelNicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo. 547-552 [doi]
• Compositional autonomy for humanoid robots with risk-aware decision-makingXianchao Long, Philip Long, Taskin Padir. 553-560 [doi]
• Quantifying balance capabilities using momentum gainBrandon J. DeHart, Dana Kulic. 561-568 [doi]
• Real-time evolutionary model predictive control using a graphics processing unitPhillip Hyatt, Marc D. Killpack. 569-576 [doi]
• Real-time motion planning of legged robots: A model predictive control approachFarbod Farshidian, Edo Jelavic, Asutosh Satapathy, Markus Giftthaler, Jonas Buchli. 577-584 [doi]
• A distributed control architecture for collaborative multi-robot task allocationJanelle Blankenburg, Santosh Balajee Banisetty, Seyed Pourya Hoseini Alinodehi, Luke Fraser, David Feil-Seifer, Monica N. Nicolescu, Mircea Nicolescu. 585-592 [doi]
• Legged mechanism design with momentum gainsBrandon J. DeHart, Dana Kulic. 593-598 [doi]
• Biped walking pattern generation based on spatially quantized dynamicsShuuji Kajita, Mehdi Benallegue, Rafael Cisneros Limón, Takeshi Sakaguchi, Shinichiro Nakaoka, Mitsuharu Morisawa, Kenji Kaneko, Fumio Kanehiro. 599-605 [doi]
• Database-driven approach for Biosignal-based robot control with collaborative filteringJun-ichiro Furukawa, Asuka Takai, Jun Morimoto. 606-611 [doi]
• Combining deep learning for visuomotor coordination with object identification to realize a high-level interface for robot object-pickingManfred Eppe, Matthias Kerzel, Sascha S. Griffiths, Hwei Geok Ng, Stefan Wermter. 612-617 [doi]
• MPC strategy for dynamic stabilization of preplanned walking gaitsJuan Alejandro Castano, Chengxu Zhou, Przemyslaw Kryczka, Nikos G. Tsagarakis. 618-623 [doi]
• A comparison of distance measures for learning nonparametric motor skill librariesSvenja Stark, Jan Peters, Elmar Rueckert. 624-630 [doi]
• Model-predictive control in multi-contact based on stability polyhedronsHerve Audren, Abderrahmane Kheddar. 631-636 [doi]
• Biomimetic upper limb mechanism of humanoid robot for shock resistance based on viscoelasticityZezheng Zhang, Huaxin Liu, Zhangguo Yu, Xuechao Chen, Qiang Huang, Qinqin Zhou, Zhaoyang Cai, Xinxin Guo, Weimin Zhang. 637-642 [doi]
• Estimating tactile data for adaptive grasping of novel objectsEmil Hyttinen, Danica Kragic, Renaud Detry. 643-648 [doi]
• Human-robot interaction assessment using dynamic engagement profilesNicole Poltorak, Alin Drimus. 649-654 [doi]
• Post-impact adaptive compliance for humanoid falls using predictive control of a reduced modelVincent Samy, Stéphane Caron, Karim Bouyarmane, Abderrahmane Kheddar. 655-660 [doi]
• Rapid state machine assembly for modular robot control using meta-scripting, templating and code generationBarry Ridge, Timotej Gaspar, Ales Ude. 661-668 [doi]
• NimbRo-OP2: Grown-up 3D printed open humanoid platform for researchGrzegorz Ficht, Philipp Allgeuer, Hafez Farazi, Sven Behnke. 669-675 [doi]
• uBot-7: A dynamically balancing mobile manipulator with series elastic actuatorsDirk Ruiken, Jonathan P. Cummings, Uday R. Savaria, Frank C. Sup, Roderic A. Grupen. 676-682 [doi]
• Complementary integration framework for localization and recognition of a humanoid robot based on task-oriented frequency and accuracy requirementsIori Kumagai, Fumihito Sugai, Shunichi Nozawa, Youhei Kakiuchi, Kei Okada, Masayuki Inaba, Fumio Kanehiro. 683-688 [doi]
• TALOS: A new humanoid research platform targeted for industrial applicationsOlivier Stasse, T. Flayols, Rohan Budhiraja, K. Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, Andrea Del Prete, Philippe Souères, Nicolas Mansard, Florent Lamiraux, Jean-Paul Laumond, Luca Marchionni, Hilario Tome, F. Ferro. 689-695 [doi]
• Humanoid robot performing jump-and-hit motions using structure-integrated pneumatic cable cylindersKazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi. 696-702 [doi]
• Design of a force sensing hand for the R1 humanoid robotAnand Vazhapilli Sureshbabu, Marco Maggiali, Giorgio Metta, Alberto Parmiggiani. 703-709 [doi]
• Investigations of viscoelastic liquid cooled actuators applied for dynamic motion control of legged systemsDonghyun Kim, Orion Campbell, Junhyeok Ahn, Luis Sentis, Nicholas Paine. 710-717 [doi]
• Walking control for feasibility at limit of kinematics based on virtual leader-followerRobson Kenji Sato, Tomomichi Sugihara. 718-723 [doi]
• Adaptive step duration in biped walking: A robust approach to nonlinear constraintsNestor Bohorquez, Pierre-Brice Wieber. 724-729 [doi]
• Strong recursive feasibility in model predictive control of biped walkingMatteo Ciocca, Pierre-Brice Wieber, Thierry Fraichard. 730-735 [doi]
• Robot control for dummies: Insights and examples using OpenSoTEnrico Mingo Hoffman, Alessio Rocchi, Arturo Laurenzi, Nikos G. Tsagarakis. 736-741 [doi]
• Hybrid position/force control for biped robot stabilization with integrated center of mass dynamicsFelix Sygulla, Robert Wittmann, Philipp Seiwald, Arne-Christoph Hildebrandt, Daniel Wahrmann, Daniel Rixen. 742-748 [doi]
• Analyzing children's expectations from robotic companions in educational settingsMaria Blancas, Vasiliki Vouloutsi, Samuel Fernando, Martí Sánchez-Fibla, Riccardo Zucca, Tony J. Prescott, Anna Mura, Paul F. M. J. Verschure. 749-755 [doi]
• A pilot study on the eBear socially assistive robot: Implication for interacting with elderly people with moderate depressionAmir H. Kargar B., Mohammad H. Mahoor. 756-762 [doi]
• Safe trajectory optimization for whole-body motion of humanoidsValerio Modugno, Gabriele Nava, Daniele Pucci, Francesco Nori, Giuseppe Oriolo, Serena Ivaldi. 763-770 [doi]
• Deep reinforcement learning for conversational robots playing gamesHeriberto Cuayáhuitl. 771-776 [doi]
• Sensing device simulating human buttock for the validation of robotic devices for nursing careKunihiro Ogata, Isamu Kajitani, Keiko Homma, Yoshio Matsumoto. 777-782 [doi]
• A geometric approach for learning compliant motions from demonstrationMarkku Suomalainen, Ville Kyrki. 783-790 [doi]
• Real-time collision detection based on one class SVM for safe movement of humanoid robotKaname Narukawa, Takahide Yoshiike, Kenta Tanaka, Mitsuhide Kuroda. 791-796 [doi]
• Electrical stimulation feedback for gait control of walking simulatorMengze Li, Zhaofan Yuan, Tadayoshi Aoyama, Yasuhisa Hasegawa. 797-802 [doi]
• Towards intuitive rigid-body physics through parameter searchJavier Felip, David Gonzalez-Aguirre, Omesh Tickoo. 803-810 [doi]
• Learning inverse dynamics models in O(n) time with LSTM networksElmar Rueckert, Moritz Nakatenus, Samuele Tosatto, Jan Peters. 811-816 [doi]
• A two-staged residual for resilient external torque estimation with series elastic actuatorsChan Lee, Jinoh Lee, Jörn Malzahn, Nikolaos G. Tsagarakis, Sehoon Oh. 817-823 [doi]
• Robot and 3D-sensor calibration using a planar part of a robot handYasuyo Kita, Yousuke Goi, Yoshihiro Kawai. 824-829 [doi]
• Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometerMehdi Benallegue, Abdelaziz Benallegue, Yacine Chitour. 830-835 [doi]
• Model predictive control of biped walking with bounded uncertaintiesNahuel A. Villa, Pierre-Brice Wieber. 836-841 [doi]
• Feedback design for multi-contact push recovery via LMI approximation of the Piecewise-Affine Quadratic RegulatorWeiqiao Han, Russ Tedrake. 842-849 [doi]
• Gaussian process based model predictive controller for imitation learningVladimir Joukov, Dana Kulic. 850-855 [doi]
• Understanding movements of hand-over between two persons to improve humanoid robot systemsRobin Rasch, Sven Wachsmuth, Matthias Kcinig. 856-861 [doi]
• Interactive data collection for deep learning object detectors on humanoid robotsElisa Maiettini, Giulia Pasquale, Lorenzo Rosasco, Lorenzo Natale. 862-868 [doi]
• Graph-based visual semantic perception for humanoid robotsMarkus Grotz, Peter Kaiser, Eren Erdal Aksoy, Fabian Paus, Tamim Asfour. 869-875 [doi]
• Tactile-based object center of mass exploration and discriminationKunpeng Yao, Mohsen Kaboli, Gordon Cheng. 876-881 [doi]
• Robot introspection with Bayesian nonparametric vector autoregressive hidden Markov modelsHongmin Wu, Hongbin Lin, Yisheng Guan, Kensuke Harada, Juan Rojas 0001. 882-888 [doi]
• Experimental evaluation of simple estimators for humanoid robotsT. Flayols, Andrea Del Prete, P. Wensing, Alexis Mifsud, Mehdi Benallegue, Olivier Stasse. 889-895 [doi]