Koichi Nishiwaki Satoshi Kagami James J. Kuffner Jr. Masayuki Inaba Hirochika Inoue Online humanoid walking control system and a moving coal tracking experiment. 911-916 2003 conf/icra/2003 ICRA db/conf/icra/icra2003.html#NishiwakiKKII03 http://dx.doi.org/10.1109/ROBOT.2003.1241709