Satoshi Tsuda Kuniya Shinozaki Ryohei Nakatsu Development and Evaluation of a Centaur Robot. 692-700 2008 KES (1) http://dx.doi.org/10.1007/978-3-540-85563-7_87 conf/kes/2008-1 db/conf/kes/kes2008-1.html#TsudaSN08