Walking motion generation of humanoid robots: Connection of orbital energy trajectories via minimal energy control. - Carlos Santacruz; Yoshihiko Nakamura (Humanoids, 2011)

Analytical real-time pattern generation for trajectory modification and footstep replanning of humanoid robots. - Carlos Santacruz; Yoshihiko Nakamura (IROS, 2012)

Reactive stepping strategies for bipedal walking based on neutral point and boundary condition optimization. - Carlos Santacruz; Yoshihiko Nakamura (ICRA, 2013)