Analyzing the "knack" of human piggyback motion based on simultaneous measurement of tactile and movement data as a basis for humanoid control - Kunihiro Ogata; Daisuke Shiramatsu; Yoshiyuki Ohmura; Yasuo Kuniyoshi (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO, USA, 2009)