Hiroaki Kitano Hiroshi G. Okuno Kazuhiro Nakadai Iris Fermin Theo Sabisch Yukiko Nakagawa Tatsuya Matsui Designing a humanoid head for RoboCup challenge. 17-18 2000 Agents http://doi.acm.org/10.1145/336595.336611 db/conf/agents/agents2000.html#KitanoONFSNM00