Atsushi Konno Koichi Nishiwaki Ryo Furukawa Mitsunori Tada Koichi Nagashima Masayuki Inaba Hirochika Inoue Dexterous Manipulations of the Humanoid Robot Saika. 79-90 1997 conf/iser/1997 ISER db/conf/iser/iser1997.html#KonnoNFTNII97