Dongjun Shin Irene Sardellitti Yong-Lae Park Oussama Khatib Mark R. Cutkosky Design and Control of a Bio-inspired Human-Friendly Robot. 43-52 2008 ISER http://dx.doi.org/10.1007/978-3-642-00196-3_6 conf/iser/2008 db/conf/iser/iser2008.html#ShinSPKC08