Fumio Kanehiro Masayuki Inaba Hirochika Inoue Action Acquisition Framework for Humanoid Robots Based on Kinematics and Dynamics Adaptation. 1038-1043 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-2.html#KanehiroII99 http://dx.doi.org/10.1109/ROBOT.1999.772452