Tadashi Odashima Masaki Onishi Kenji Tahara Kentaro Takagi Fumihiko Asano Yo Kato Hiromichi Nakashima Yuichi Kobayashi Toshiharu Mukai Zhi Wei Luo Shigeyuki Hosoe A Soft Human-Interactive Robot RI-MAN. 2006 IROS http://dx.doi.org/10.1109/IROS.2006.282203 conf/iros/2006 db/conf/iros/iros2006.html#OdashimaOTTAKNKMLH06