Virtual humanoid robot platform to develop controllers of real humanoid robots without porting. - Fumio Kanehiro; Natsuki Miyata; Shuuji Kajita; Kiyoshi Fujiwara; Hirohisa Hirukawa; Yoshihiko Nakamura; Katsu Yamane; Ichitaro Kohara; Yuichiro Kawamura; Yoshiyuki Sankai (IROS, 2001)