Kenji Kaneko Fumio Kanehiro Shuuji Kajita Hirohisa Hirukawa Toshikazu Kawasaki Masaru Hirata Kazuhiko Akachi Takakatsu Isozumi 1083-1090 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1307969 db/conf/icra/icra2004-2.html#KanekoKKHKHAI04