Kazuhito Yokoi Naoto Kawauchi Naoyuki Sawasaki Toshiya Nakajima Shinya Nakamura Kazuya Sawada Ikuo Takeuchi Katsumi Nakashima Yoshitaka Yanagihara Kazuhiko Yokoyama Takakatsu Isozumi Yutaro Fukase Kenji Kaneko Hirochika Inoue Humanoid Robot Applications in HRP. 409-428 2004 1 I. J. Humanoid Robotics 3 http://dx.doi.org/10.1142/S0219843604000265 db/journals/ijhr/ijhr1.html#YokoiKSNNSTNYYIFKI04