Kazuhito Yokoi Ee Sian Neo Takeshi Sakaguchi Olivier Stasse Yoshihiro Kawai Kenichi Maruyama Humanoid Robot HRP-2 with Human Supervision. 513-522 2006 ISER http://dx.doi.org/10.1007/978-3-540-77457-0_48 conf/iser/2006 db/conf/iser/iser2006.html#YokoiNSSKM06