Yoshihiro Kuroki Keisuke Kato Ken'ichiro Nagasaka Atsushi Miyamoto Ken-ichiro Ueno Jin'ichi Yamaguchi Motion Evaluating System for a Small biped Entertainment Robot. 3809-3814 2004 conf/icra/2004 ICRA db/conf/icra/icra2004-4.html#KurokiKNMUY04