@inproceedings{DBLP:conf/humanoids/BerenzS12, title = {Usability benchmarks of the Targets-Drives-Means robotic architecture}, author = {Berenz, Vincent and Suzuki, Kenji}, booktitle = {12th {IEEE-RAS} International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29 - Dec. 1, 2012}, pages = {514--519}, year = {2012}, crossref = {DBLP:conf/humanoids/2012}, doi = {10.1109/HUMANOIDS.2012.6651568}, url = {http://dx.doi.org/10.1109/HUMANOIDS.2012.6651568} }