Design and experiments of advanced leg module (HRP-2L) for humanoid robot (HRP-2) development. - Noriyuki Kanehira; Toshikazu Kawasaki; Shigehiko Ota; T. Ismumi; Tadahiro Kawada; Fumio Kanehiro; Shuuji Kajita; Kenji Kaneko (IROS, 2002)