Takayuki Furuta Tetsuo Tawara Yu Okumura Masaharu Shimizu Ken Tomiyama Design and construction of a series of compact humanoid robots and development of biped walk control strategies. 81-100 2001 37 Robotics and Autonomous Systems 2-3 http://dx.doi.org/10.1016/S0921-8890(01)00151-8 db/journals/ras/ras37.html#FurutaTOST01