Hirohisa Hirukawa Fumio Kanehiro Kenji Kaneko Shuuji Kajita Kiyoshi Fujiwara Yoshihiro Kawai Fumiaki Tomita Shigeoki Hirai Kazuo Tanie Takakatsu Isozumi Kazuhiko Akachi Toshikazu Kawasaki Shigehiko Ota Kazuhiko Yokoyama Hiroyuki Handa Yutaro Fukase Jun-ichiro Maeda Yoshihiko Nakamura Susumu Tachi Hirochika Inoue Humanoid robotics platforms developed in HRP. 165-175 2004 48 Robotics and Autonomous Systems 4 http://dx.doi.org/10.1016/j.robot.2004.07.007 db/journals/ras/ras48.html#HirukawaKKKFKTHTIAKOYHFMNTI04