Development of muscle-driven flexible-spine humanoids. - Ikuo Mizuuchi; Tomoaki Yoshikai; Yuto Nakanishi; Yoshinao Sodeyama; Taichi Yamamoto; Akihiko Miyadera; Tuomas Niemelä; Marika Hayashi; Junichi Urata; Masayuki Inaba (Humanoids, 2005)

Development of Musculoskeletal Humanoid Kotaro. - Ikuo Mizuuchi; Tomoaki Yoshikai; Yoshinao Sodeyama; Yuto Nakanishi; Akihiko Miyadera; Taichi Yamamoto; Tuomas Niemelä; Marika Hayashi; Junichi Urata; Yuta Namiki; Tamaki Nishino; Masayuki Inaba (ICRA, 2006)