Development of a New Anthropomorphic Flutist Robot WF-4. - Keisuke Chida; Isamu Okuma; Shuzo Isoda; Yukako Saisu; Kunimitsu Wakamatsu; Kazufumi Nishikawa; Jorge Solis 001; Hideaki Takanobu; Atsuo Takanishi (ICRA, 2004)