Torso robot with a cybernetic shoulder. - Masafumi Okada; Nagamasa Mizushima; Yoshihiko Nakamura (Adv. Robotics, 1998)

Synthesis, Learning and Abstraction of Skills Through Parameterized Smooth Map from Sensors to Behaviors. - Yoshihiko Nakamura; T. Yamazaki; Nagamasa Mizushima (ICRA, 1999)