Fumio Kanehiro Kiyoshi Fujiwara Shuuji Kajita Kazuhito Yokoi Kenji Kaneko Hirohisa Hirukawa Yoshihiko Nakamura Katsu Yamane Open Architecture Humanoid Robotics Platform. 24-30 2002 conf/icra/2002 ICRA db/conf/icra/icra2002.html#KanehiroFKYKHNY02