@misc {IOPORT.70396500,
    author       = {Murakami, Masayuki},
    title        = {Fault tolerance design for computers used in humanoid robots},
    howpublished = {IROS, 2301-2307 (2007).},
    year         = {2007},
    doi          = {10.1109/IROS.2007.4399355},
    identifier   = {70396500},
}