@inproceedings{CASE-2018-SygullaWSBHWR,
	author        = "Felix Sygulla and Robert Wittmann and Philipp Seiwald and Tobias F. C. Berninger and Arne-Christoph Hildebrandt and Daniel Wahrmann and Daniel Rixen",
	booktitle     = "{Proceedings of the 14th International Conference on Automation Science and Engineering}",
	doi           = "10.1109/COASE.2018.8560532",
	isbn          = "978-1-5386-3593-3",
	pages         = "483--490",
	publisher     = "{IEEE}",
	title         = "{An EtherCAT-Based Real-Time Control System Architecture for Humanoid Robots}",
	year          = 2018,
}