Hiroaki Kitano Fuminori Yamasaki Tatsuya Matsui Ken Endo Yukiko Matsuoka Hiroshi Kaminaga Yuichiro Kato The Story of Pino. 449-463 2004 1 I. J. Humanoid Robotics 3 http://dx.doi.org/10.1142/S0219843604000277 db/journals/ijhr/ijhr1.html#KitanoYMEMKK04