Amir Ali Forough Nassiraei Seiji Masakado Takayuki Matsuo Takashi Sonoda Isao Takahira Hajime Fukushima Masayuki Murata Kodai Ichikawa Kazuo Ishii Tsutomu Miki Development of an Artistic Robot "Jumping Joe". 1720-1725 2006 IROS http://dx.doi.org/10.1109/IROS.2006.282131 conf/iros/2006 db/conf/iros/iros2006.html#NassiraeiMMSTFMIIM06