Tatsuichiro Nagai Shigeto Aramaki Isao Nagasawa Representation and Programming for a Robotic Assembly Task Using an Assembly Structure. 909-914 2007 CIT http://doi.ieeecomputersociety.org/10.1109/CIT.2007.151 conf/IEEEcit/2007 db/conf/IEEEcit/IEEEcit2007.html#NagaiAN07