Kevin Nickels Brett Kennedy Hrand Aghazarian Curtis Collins Michael Garrett Lee Magnone Avi Okon Julie Townsend Lemur IIa Capabilities. 2006 IROS http://dx.doi.org/10.1109/IROS.2006.282288 conf/iros/2006 db/conf/iros/iros2006.html#NickelsKACGMOT06