Planning of kicking motion with via-point representation for humanoid robots. - Chang Hyun Sung; Takahiro Kagawa; Yoji Uno (URAI, 2011)

Efficient Planning of Humanoid Motions by Modifying Constraints. - Chang Hyun Sung; Takahiro Kagawa; Yoji Uno (Paladyn J. Behav. Robotics, 2013)

Task-dependent distribution and constrained optimization of via-points for smooth robot motions. - Chang Hyun Sung; Manuel Mühlig; Michael Gienger; Yoji Uno (ICRA, 2015)

Synthesis of humanoid whole-body motion with smooth transition. - Chang Hyun Sung; Takahiro Kagawa; Yoji Uno (Adv. Robotics, 2015)

Optimization-Based Motion Planning in Joint Space for Walking Assistance With Wearable Robot. - Takahiro Kagawa; Hironori Ishikawa; Takayuki Kato; Chang Hyun Sung; Yoji Uno (IEEE Trans. Robotics, 2015)