Eiichi Yoshida Jean-Paul Laumond Claudia Esteves Oussama Kanoun Anthony Mallet Takeshi Sakaguchi Kazuhito Yokoi Motion autonomy for humanoids: experiments on HRP-2 No. 14. 511-522 2009 20 Journal of Visualization and Computer Animation 5-6 http://dx.doi.org/10.1002/cav.280 db/journals/jvca/jvca20.html#YoshidaLEKMSY09