Optimal Control Based Skill Development System for the Kip. - Darrell Nakawaki; Sangwan Joo; Fumio Miyazaki (ISER, 1997)

Dynamic Modeling Approach to Gymnastic Coaching. - Darrell Nakawaki; Sangwan Joo; Fumio Miyazaki (ICRA, 1998)

Determining motor skill characteristics with a reduced model approach. - Darrell Nakawaki; Sangwan Joo; Fumio Miyazaki (IROS, 1999)

Skill transfer improved with a multi-model approach. - Darrell Nakawaki; Sangwan Joo; Fumio Miyazaki (Adv. Robotics, 2000)