Fuminori Yamasaki Tatsuya Matsui Takahiro Miyashita Hiroaki Kitano PINO The Humanoid: A Basic Architecture. 269-279 http://link.springer.de/link/service/series/0558/bibs/2019/20190269.htm 2000 conf/robocup/2000 RoboCup db/conf/robocup/robocup2000.html#YamasakiMMK00