Yoshiyuki Ohmura Yasuo Kuniyoshi Humanoid robot which can lift a 30kg box by whole body contact and tactile feedback. 1136-1141 2007 IROS http://dx.doi.org/10.1109/IROS.2007.4399592 conf/iros/2007 db/conf/iros/iros2007.html#OhmuraK07