Shun Nishide Tetsuya Ogata Ryunosuke Yokoya Jun Tani Kazunori Komatani Hiroshi G. Okuno Object dynamics prediction and motion generation based on reliable predictability. 1608-1614 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543431 conf/icra/2008 db/conf/icra/icra2008.html#NishideOYTKO08