Stories of QRIO and PINO, and Beyond: Lessons Learned from Small Humanoid Projects From R&D to Business. - Masahiro Fujita; Yasunori Kawanami; Kiyokazu Miyazawa; Masaya Kinoshita; Kunihito Sawai; Fuminori Yamasaki; Tatsuya Matsui; Ken Endo; Shu Ishiguro; Hiroaki Kitano (Int. J. Humanoid Robotics, 2024)