Kenji Kaneko Shuuji Kajita Fumio Kanehiro Kazuhito Yokoi Kiyoshi Fujiwara Hirohisa Hirukawa Toshikazu Kawasaki Masaru Hirata Takakatsu Isozumi Design of Advanced Leg Module for Humanoid Robotics Project of METI. 38-45 2002 conf/icra/2002 ICRA db/conf/icra/icra2002.html#KanekoKKYFHKHI02